This is the heartwarming moment a Vietnamese fisherman floating in the sea was rescued by a passing ship.

The seaman was seen drifting in choppy waters and was waving his hand while struggling to keep afloat off the coast of Con Son island, Vietnam, on July 1.

As he pleaded for help, the crew from a vessel en route to Singapore saw him and rushed to fish him out of the water.

Footage shows the man being assisted onboard after a rubber boat was used to fetch him. He was given a towel to wrap around his body as he was wearing only underwear when he was found.

Edwin Landero, a Filipino national on the ship, said: ‘We heard shouting and thought it was from deck crew working.

‘However, the voice was coming from outside, and we looked out and saw a man waving from the sea.'

While climbing on board, the fisherman held a thumbs up while saying: ‘I am, thank you.'

The fisherman was taken to a cabin to rest and given food and first aid treatment before being transferred to a hospital.