Fascinating underwater footage has captured divers exploring a royal shipwreck which sank off the coast near Great Yarmouth 400 years ago.

Dubbed Norfolk's Mary Rose, the 17th-century Gloucester shipwreck was discovered by brothers Julian and Lincoln Barnwell and their friend James Little in 2007, and last year its location was revealed to the public.

Eastern Daily Press: Fascinating footage has captured the moment divers explored the Gloucester shipwreck found off the Norfolk coastFascinating footage has captured the moment divers explored the Gloucester shipwreck found off the Norfolk coast (Image: Norfolk Historic Shipwrecks)

The pair returned to the wreck last summer to document this fascinating piece of maritime history, which sank in 1682 while transporting the future King of England and Scotland, James Stuart.

While the monarch survived, hundreds of passengers and crew lost their lives. 

Eastern Daily Press: Divers explore the Gloucester shipwreck. Credit: Norfolk Historic ShipwrecksDivers explore the Gloucester shipwreck. Credit: Norfolk Historic Shipwrecks (Image: Norfolk Historic Shipwrecks)

The footage has been released ahead of a major exhibition opening on Saturday, February 25, at Norwich Castle Museum which explores its last voyage.

The ship was split down the keel and the remains of the hull submerged in sand, but items including an anchor, rope and cannon are visible in the film, along with glass bottles.

Also visible are fishing nets that have been lost over the years, which the team says highlights the ongoing vulnerability of the site.

University of East Anglia maritime expert, Professor Claire Jowitt, said: “Until now, only a handful of people have been able to see what the Gloucester wreck site looks like.

Eastern Daily Press: Footage from a diving expedition to The Gloucester off the Norfolk coast. Credit: Norfolk Historic ShipwrecksFootage from a diving expedition to The Gloucester off the Norfolk coast. Credit: Norfolk Historic Shipwrecks (Image: Norfolk Historic Shipwrecks)

"This footage, together with the artefacts and ongoing historical research, will help underline the importance of Britain’s maritime heritage to our island story.”

The exhibition runs from Saturday, February 25, to Sunday, September 10, at Norwich Castle Museum and Art Gallery.

The museum is open from 10am to 4.30pm Monday to Saturday and 1pm to 4.30pm on Sunday.