Shortly after 2pm, police responded to a domestic violence incident involving the woman, who was known to be driving.

The car was spotted in Rabaul Road, Georges Hall, but as police arrived, the woman drove the car off a boat ramp and into the river.

Dramatic footage taken from the air shows police officers swimming out to the car in shoulder-deep water, and trying to open the doors of the car.

One officer then smashed the driver window, pulling the woman out through the window as the car disappeared entirely underwater.

A spokesperson for the police said the woman was temporarily dragged underwater as her leg was caught; however, the officer followed her underwater, standing on the submerged car door to pull her upwards.

The officers then took the woman to safety on the shore.

It is unknown at this stage why the woman drove into the river, but police understand she may have been affected by drugs.

The woman was taken to Bankstown Police Station where she was treated by paramedics.