Officers spent the night searching an area of the Cotswolds for the boy, who is believed to have got lost in woodland during a family camping holiday.
He was reported missing from Thistledown Farm in Nympsfield, near Stroud in Gloucestershire shortly after 7pm last night.
Richard Kelly, a co-owner of the campsite, said the response from police and campers had been "amazing".
A spokesman for Gloucestershire Police said: "He was found at around 6.50am this morning and we believe that he was found walking back to his tent.
"There was a mixture of our officers and members of the public looking for him."