The man who escaped police custody outside the Taupō District Court has a history of sleeping rough and stealing boats, say police.

Samir Derek Belhajjam, 30, fled from a police transport vehicle at the court building on Story Place on Monday night and is still at large.

He was wearing green prison-issue shorts and tee-shirt, as well as an orange hi-vis vest, at the time he escaped.

Taupō area commander Inspector Phil Edwards said Belhajjam was being taken back to prison after a court appearance when he managed to evade his police escort.

Enquiries into how this occurred were ongoing, he said, and police would be conducting a full review of the incident.

But he said there were no concerns about staffing levels at the time.

Police understood Belhajjam knew people in Taupō, and was possibly receiving help to avoid police.

He said he also had a history of breaking into properties, Edwards said.

Belhajjam is the third person to escape custody in the Waikato region in recent months - however, the other two were in the custody of Corrections officers, not police.