A red Jeep has been driven off a jetty and into a river during a dramatic hours-long stand-off involving police in Claremont, Perth.

A number of police resources including TRG and air wing were sent to the scene on Jetty Rd on Wednesday morning, with officers negotiating with a man for more than two hours.

WATCH THE VIDEO ABOVE: Car plunges off Claremont jetty into Swan River.

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About 11.50am, 7NEWS captured the car reversing further down the jetty, away from shore, before it was put back into drive.

It then accelerated into the Swan River, in front of a police boat.

The driver escaped the car before climbing back onto its undercarriage, where he sat for some time, talking with police.

About 12.15pm, the man jumped back into the water where he was quickly surrounded by police divers and lifted back onto the jetty.

He was then carried to a waiting ambulance and taken for an assessment. It is understood he escaped injury.

One police car that was used to block the jetty will need repairs after the Jeep slammed into it.

Witnesses working in the area told 7NEWS they heard a loud commotion and saw “police vehicles everywhere” swarm the area about 9.30am.

“Saw a Jeep on the jetty and was like, ‘wow, what’s going on there?” Angus Fraser said.

Fraser said the driver was “in the car, getting out of the car, yelling at the police, a lot of commotion”.

His colleague Callum Richardson said it was a dramatic end when the car was ditched in the water.

“He just slapped it in reverse and switched to drive and took it off the edge,” Richardson said.

Richardson said police “definitely did a good job, took their time” and made sure no one was hurt.

The public were told to avoid the area.