An investigation continues after a woman fell and died onboard a boat on Auckland's Waitemata Harbour

25-year-old Danielle Tamarua was on a Zefiro charter vessel along with about 30 other people on Thursday night.

The woman and another passenger had gone overboard and were quickly pulled out - however the woman suffered critical injuries.

Emergency services were called at about 5.15 that evening.

Police are sinvestigating and are working with the owners of the boat.

Maritime NZ are also assisting in the investigation.