Firefighters from Goathland, Lythe, and Whitby, including the station's Swift Water Rescue team – one of just two operating in North Yorkshire – were sent to the scene after being alerted just before 3.30pm.

The middle-aged grandparents and their granddaughter (12) and grandson, aged eight, were heading home to Egton Bridge in their Rover car when they misjudged the depth of the ford and drove straight into the water, which was a foot-and-a-half deep.

The family were stranded for around 30 minutes until they were rescued after ringing the emergency services on a mobile phone.

While the other crew members lined the ford to monitor the rescue operation, two swift water operatives from Whitby, Shaun Wilson and Richard Clark, who wore helmets, buoyancy aids and dry suits, waded into the water and attached a line to the car.

A passing female motorist, whose LandRover was in the best position to help with the rescue, towed out the family's car to safety in just five minutes with assistance from the firefighters.

John Chilton, whose house overlooks the ford, snapped the pictures of the dramatic rescue operation for the Whitby Gazette.

He has lived in the village for more than 15 years and said on average there are 10 similar incidents on the ford each year. He said around three hours later another car got stuck and had to be towed out by the AA.

"People are stupid. There are depth gauges. It's fairly evident. You don't go across," he said.

Whitby crew manager Ian Clarkson said the family had simply misjudged the depth of the water, despite there being markers before the ford saying the water was knee-deep.

"The family stayed in the car and we towed it out with them still in it," he said.

"They were fine but a bit worried about what had happened. I think the grandchildren thought it was wonderful."

Mr Clarkson said there have been incidents in the ford where cars have been swept away by the strength of the water.

In June last year, the Whitby Gazette reported how three friends from Haxby, who got lost in torrential rain near Grosmont, were lucky to be alive after their car was washed down river and they escaped through an open window.

Mr Clarkson is urging people to take care when considering crossing the ford.

"It can be a problem area," he said. "Get out and have a look and check the depth.

If you are at all unsure find another way round, which there is."