Five people were killed and dozens are missing as a ship sank in rough seas off Bali.

The KMP Tunu Pratama Jaya ferry was overwhelmed by powerful waves half an hour after departing from Ketapang port in East Java, on Wednesday evening.

Vehicles onboard swaying when the vessel listed and began taking on water.

Terrified passengers were heard screaming for help as rescue teams battled through darkness and dangerous sea conditions to carry out evacuations.

Nine boats were deployed, with local fishermen and residents participating in the overnight search efforts.

Nanang Sigit, head of the Surabaya search and rescue agency, said in a statement today, July 3: 'The ferry could not be contacted via radio from the beginning. Then it could be contacted by other ships from the same company. But the ship was already in a tilting condition.

'For today's search we are focusing on searching on the water, as the initial victims were found in the water between the location of the accident toward Gilimanuk port.'

The ship's manifest data showed there were 65 passengers and crew onboard.

The National Search and Rescue Agency said five bodies have been recovered while 29 people were rescued. Thirty-one more were missing.

The incident occurred just days after a ferry sank at the Komodo National Park in East Nusa Tenggara on Sunday, June 29.

Eight Spanish and Chinese tourists were rescued from the ship named Bahari Angin Mamiri after it overturned at sea due to powerful waves.