American actress Naya Rivera has been seen in chilling footage that could be her final moments caught on camera.

Authorities have released CCTV footage of the Glee actress pulling up at Lake Piru in her black Mercedes on Thursday, before getting out of the car with her four-year-old son Josey and boarding the boat they hired.

In the 16-minute long footage, Rivera is seen wearing a cap and carrying a big white bag over her shoulder, as Josey follows closely behind her on their way to the dock.

Rivera has been missing for more than 24 hours, with a search currently underway at the lake in southern California where she went missing.

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Her son told police he and his mother went swimming but she never returned to the boat.

It comes after police released the 911 call that first reported Rivera missing.

A woman told the 911 operator that her husband was one of the people who discovered the boat on Lake Piru that Rivera had hired with her four-year-old son, Josey.

The woman mistakenly referred to the child as a girl in the call.

Naya Rivera is missing presumed dead. Photo / AP
Naya Rivera is missing presumed dead. Photo / AP

"The emergency is we have a missing person, we found a little girl in one of the boats by themself and the mum's nowhere to be found," the woman told the 911 operator.

"My husband was one of the people that was there."The woman didn't have too many extra details, telling the 911 operator: "I'm going to find out more information, he just wanted to call it in."

The boat was discovered by employees from the boat rental company. They went looking for the boat 30 minutes after Rivera had failed to return it.

A US Coast Guard helicopter flies over Lake Piru where actress Naya Rivera was reported missing. Photo / AP
A US Coast Guard helicopter flies over Lake Piru where actress Naya Rivera was reported missing. Photo / AP

Josey was found on board wearing a life jacket and reportedly told authorities he and his mum went swimming earlier in the day but that Rivera failed to return to the boat.

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Authorities are still searching the lake in southern California and have described it as a "recovery operation" meaning the actress is presumed dead.

Two helicopters, six boats and 25 divers are involved in the search.

The lake is up to 15m deep in some parts and visibility is poor.

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just the two of us

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Ventura County Sheriff's Department Captain Eric Buschow told the LA Times Josey was "in good health" following the ordeal.

"The family is going through a very traumatic time right now," Captain Buschow said, later telling NBC LA: "This is considered to be a horrible accident."