A police body cam has captured the incredible moment a police officer scaled the side of a burning New Jersey apartment to rescue two trapped children and their grandparents.

Fire had engulfed two units at a North Brunswick complex when the police officers arrived.

The video shows one of the officers running towards the balcony, waving his flash light and screaming, “Jump! Jump! Come on, hurry up,” as the building burns in the background.

The entry to the complex was blocked by the flames, which meant one officer had to climb up the balconies and toss the children to the ground where other officers were waiting to catch them.

An off-duty officer who was a nearby resident also came to help with the rescue.

Firefighters arrived shortly afterwards and worked through the night to extinguish the fire.

A burning candle is believed to be responsible for the blaze, with the police urging people to check their smoke alarms and be mindful of leaving candles unattended.