Police have named a Taihape man who died after his truck plunged into a Hawke's Bay river.

Richard Warren Tonneycliffe, 47, was reported missing by his wife on Monday after he failed to return from a trip.

Another truck driver noticed marks on the road about 1km downstream from Springvale Bridge, 30 metres above Moawhango River, and saw a truck submerged in the Rangitikei River.

Dive crews pulled Mr Tonneycliffe's body from his submerged truck cab yesterday afternoon.

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The truck and trailer units have now been removed from the river by salvage crews.