Two Australian brothers and a US tourist who went missing in Mexico were shot dead by thieves who wanted their truck’s tyres, according to prosecutors.

Relatives of Jake and Callum Robinson and Jack Carter Rhoad have identified the three bodies.

They were dumped in a remote 15m-deep (50ft) well.

The trio went missing a week ago while on a surfing trip near the northern city of Ensenada – not far from the US border – and had posted photos on social media of isolated beaches.

Thieves likely saw their truck and tents and wanted their tyres but the men probably resisted, said prosecutor Maria Elena Andrade Ramírez.

She said the bodies were taken to “a site that is extremely hard to get to” in Baja California state.

The well, near where their truck and tent were found on Thursday, also contained a fourth body that had been there much longer.

It took two hours to winch the bodies out, said Ms Andrade Ramírez.

She said the same thieves may also have dumped the fourth body there.

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Three men are being questioned over the killings.

After the bodies were found, surfers gathered in Ensenada, the nearest city, to protest at what they say is a lack of safety in the state.

“They only wanted to surf – we demand safe beaches,” said a sign held by one woman.

Some of the surfers took part in a ‘paddle-out’ ceremony in remembrance of the three men, forming a circle with their boards in the sea and throwing flowers.

In a Facebook message last week, Jake and Callum’s mother said she hadn’t been in touch with them since 27 April.

The post said they were meant to check into an Airbnb in the resort town of Rosarito but didn’t show up.

Callum, 33, had reportedly been living in the US to try to become a professional lacrosse player, while his 30-year-old brother Jake, a doctor, had flown out to visit him just two weeks ago.

In a statement reported in Australian media, their parents called them “beautiful human beings”.

“We love them so much and this breaks our heart,” it said.

“Our only comfort right now is that they were together doing something they passionately loved.”