A boy missing for almost four hours had wandered nearly 2km away

A desperate search was launched for a three-year-old boy after he was missing for nearly four hours.

A three-year-old boy who was missing for nearly four hours had been looking for kangaroos in bushland near his home.

A desperate search for the young boy, Xavier Death, was launched on Tuesday after he was last seen near his home in Angus in Sydney’s west about 2.35pm on Monday.

The boy was found about 6.10pm that evening, and was reportedly not injured according to 7NEWS.

He had reportedly wandered off into a paddock after spotting a kangaroo, and then crawled under a barbed wire fence and walked through nearly 2km of bushland.

A three-year-old boy who was missing for nearly four hours had been looking for kangaroos in bushland near his home. Picture: 7NEWS.

Adam Goncalves told 7NEWS he had found the boy after he heard crying.

“He was crying when I found him but as soon as I got to him and asked what his name was, he stopped,” Mr Goncalves said.

“I just warmed him up, gave him a couple of shoulder rubs to keep him warm.”

Xavier’s grandmother Maree Loveday said she’d “never seen so many people” help out for the search, and that she was thankful he was found.

“Everybody was here,” she said.

“We’ve got him, and we are never going to let him go.”

NSW Police confirmed the boy was found “safe and well” by a community member following a large scale search, with geo-targeting message alerts sent out to the local area.

He was found about 1km from where he was last seen, with police thanking the community for their assistance.