An inquiry has been launched into the death of a driver killed when his car plunged 100ft over a seafront cliff after he failed to stop for police.

The man died instantly when his silver Nissan Sunny crossed two lanes of oncoming traffic before smashing through the clifftop fence above Brighton Marina.

The horrific crash happened on a 50mph stretch of the A259 just before 9pm on Saturday. The car ended up on its roof on the Undercliff Walk about 50 yards from luxury flats. A witness said the Nissan was so badly crushed only its wheels were visible above a knee-high wall.

People working in pubs and restaurants at the Marina heard the crash. Alfredo Trosino, 58, the owner of Bella Napoli restaurant in Marina Village, said a diner saw the car plunge over the cliff and alerted staff who rushed out to help.

Waiter Maxim Briand, 24, of St George's Road, Kemp Town, was the first person on the scene.

He climbed up on the wall to see if he could help the driver.

Mr Briand said: "I could see the car had landed on the driver's side because that was the most badly crushed. We tried to look through the windows to see if there was anyone in there but the only thing you could see was somebody's knee sticking out of the door. It was a really horrible accident."

Mr Briand and other waiters from the restaurant called out to the man but got no response and police arrived moments later.

A police spokesman said: "The only occupant, a male driver, died at the scene. The car had failed to stop for a police patrol car immediately prior to the incident."

He declined to comment when asked whether the vehicle was being pursued by police at the time of the crash.

Firefighters from Roedean and Preston Circus fire stations attended the scene and cut up the car to free the victim, whose name had not been released last night.

The Nissan, which was travelling towards Rottingdean, plunged over the cliff where the access road to the marina forks away from the road into Brighton city centre.

The incident has been referred to the Independent Police Complaints Commission (IPCC), which will conduct the inquiry into the death.

The IPCC said it happened after a marked police car reported the Nissan had been seen driving erratically and failed to stop.

IPCC commissioner David Petch said: "Our condolences go out to the dead man's family and friends after this tragic incident."

Police are appealing for anyone with information to call 0845 6070999.