Three children missing with their mother and grandmother have been located, police said today.

Detectives launched a nationwide hunt to find Darren, six, and Leonie Gray, five, and their three-year-old sister Sophie Stead-Gray.

The three children are travelling to Northern Ireland with their mother, Cheryl Gray and maternal grandmother Patricia Lodge.

A Cleveland Police spokesman said the children's custody status had been clarified and officers were happy no criminal offence had been committed.

''We have now received information that the youngsters, together with their mother and maternal grandmother, are heading to Northern Ireland and will arrive later this afternoon,'' a force spokesman said.

''Questions over who has custody and access to the youngsters have now been fully checked and clarified by legal experts. ''We are now happy that no criminal offence has been committed.

''The family will be met and welfare checks will be carried out. We are happy the situation has been resolved and we will be taking no further action.''

The children were reported missing from their home in Hartlepool by their paternal grandparents at 9pm on Wednesday.

They were being cared for by their grandparents at their home in Acclom Street.

Their father had last seen the two elder children when he dropped them off at Eldon Grove School on Wednesday morning.

Arrangements had been made for Mrs Lodge, 44, to collect Sophie from the house and go with her brother and sister to a party.

Police launched the manhunt when their investigations revealed the children had not gone to a party but further inquiries led to this afternoon's breakthrough.