Incredible drone footage has captured the moment an 83-year-old man was rescued from the icy waters of an Iowa lake by a 17-year-old teenager after he accidentally drove through the ice.

The rescue saw the man's dog being lifted to safety first from the waters of East Okoboji Lake, before the teen pushed his way inside through the Jeep's rear window.

After disappearing for a few moments, Joe Salmon who managed to break the window of the car with a utility knife.

The man's pet golden doodle was first to be brought to safety from the back of the car before he turned attention to the elderly man who was struggling to escape.

Salmon had been with his mom ice fishing and watching snowmobile drag races on the lake when the Jeep passed them by when the ice cracked beneath it.

Joe, from Spirit Lake, Iowa, sprinted into action while calling on others who had been standing nearby to assist. 

He took off his boots and snow gear and attempted to wave at the man to get out, but he was trapped. 

Almost without thinking, Joe dove inside the car to free the man himself.

'I didn't really think about why or anything,' he told The Washington Post. 'I wanted to make sure he was going to be okay — to get him out. A full-size car going there, I knew it wasn't going to end well.

'In my mind I was like, I know we need to do this fast,' he said. 

Joel managed to drag the man's foot where it had become trapped between the seat and the center console, but then he got stuck once again this time between the seat and roof.   

Joe was once again able to free the man from his car seat as he struggled to escape the vehicle which was quickly filling with water. 

He then dragged him back out after folding down the seats before he was finally out into the open and onto the snow.

Several people then helped the man walk to a nearby store to get him out of his freezing wet clothes.

He attributes his quick thinking and physical preparedness to playing three sports and being familiar with the area.

Joe was assisted by a several other strangers in the rescue in the frigid waters of the lake.

The old man was taken to a hospital and was 'doing well,' the Dickinson County Sheriff's Office has said. 

Following his heroics, Joe went back to ice fishing alongside his mom.