Three-year-old Noah Woods, who was found dead in a lake following a huge search in Suffolk, had left a play area “through a gap in the fence”, an inquest in Ipswich heard.

A desperate search was launched on 15 September for Noah, who police said was non-verbal, partially deaf and undergoing an assessment for autism. The three-year-old went missing in Brantham, Suffolk when separated from a relative near a playground.

More than 24 hours after his disappearance, police confirmed that dive teams had recovered a child’s body from a lake known locally as Decoy Pond, which was later identified as the three-year-old boy.

Coroner Jyoti Gill formally opened the inquest for the three-year-old on Friday morning at Suffolk Coroner’s Court in Ipswich. She said at the outset of the hearing, which was not attended by family: “I would like to express my deepest condolences to Noah’s family and friends and all those affected by Noah’s death.”

She said at the end of the six-minute hearing: “The inquest is adjourned to a date to be fixed in due course. Once again, my deepest condolences.”

Detective chief inspector Matthew Connick told the hearing that on 15 September, Noah, of East Bergholt, Suffolk, was being “looked after by relatives and this was part of a normal routine for Noah”.

He said they walked to an under-fives play area and CCTV footage in the park “showed Noah playing with his relative”.

The first CCTV footage was timed at 2.13pm and he was last see playing at 2.37pm, said Mr Connick, who added the CCTV “is motion-activated so doesn’t provide continuous footage”.

The relative, who was not named at the hearing, had provided a statement to police, he said.

The officer said Noah “left through a gap in the fence leading to the memorial garden where he left through an open gate” before heading in the direction of Decoy Pond and he was “being closely followed by his relative who was trying to keep up with him”.

He said the relative “shouted after him”, but after 200 metres Noah could not be seen.

“Police were called and a large-scale search operation began,” Mr Connick said.

He said Noah was found by a Met Police diver “approximately five metres from the bank and within submerged tree roots”.

The depth was estimated at 1.8 metres at that point. A post-mortem examination at Addenbrooke’s Hospital mortuary in Cambridge recorded his medical cause of death as pending further investigation, Mr Connick said.

Noah’s death was confirmed at 4.31pm by paramedics, he added, and his identity was formally confirmed by his mother Charlie Peck at Ipswich Hospital that evening.

Around 1,300 volunteers turned out to help find Noah, and search efforts were supported by the National Police Air Service, HM Coastguard, Suffolk Fire & Rescue Service, and Suffolk Lowland Search & Rescue.

Suffolk Police confirmed that the body of a child had been found and the discovery was being treated as unexplained but not suspicious.

The family of Noah said he was “a happy, cheeky, playful” boy “who loved to laugh, loved to giggle and who brought joy wherever he went”, in a tribute issued through Suffolk Police.

“He was part of a loving and caring family, living with his mummy, daddy and his little baby brother. He was at the centre of our world,” the family said.

“Noah was being assessed for autism, although he had not received a diagnosis. He also had mild hearing loss and was speech delayed. Despite the challenges he faced, he was learning every day. He was saying new words all the time and had only just started finding and using his little voice. One of the things we miss most is the special sound of his voice. It was unique, wonderful, and something we will carry with us forever.”

Noah was an older brother, the family said, who had special relationship with the little baby.

“Every Tuesday since the day he was born Noah went to the park with a treasured relative. They had the most wonderful relationship, they loved playing chase together, running around, and exploring the play equipment. Those moments were filled with laughter and happiness and are memories our family will treasure forever.”

The family added they wanted Noah’s last memory to be one of joy.

“We want people to remember him running, playing chase, giggling and being the happy little boy that he was. That is who Noah was, and that is how he deserves to be remembered.

“We would also like to say thank you. Thank you to the Good Dads Club, Ipswich Town Football Club, everyone who helped during the search, the emergency services, and the specialist support provided by the police. Thank you to our family and friends who have surrounded us with love, care and support during the darkest time of our lives.”

A tribute to the three-year-old was also shown on the big screen ahead of the Everton v Ipswich Town Premier League match on 19 September, while players wore black armbands in his memory. More than £100,000 has been raised to support Noah’s family.

“A special thank you must go to the entire footballing community, from grassroots clubs through to the highest levels of the game, for the incredible love, support and kind thoughts that have been shown to our family.

“The support we have received has been overwhelming, and we will be forever grateful to every single person who has stood beside us and remembered our beautiful Noah.”

Noah’s mother Charlie said: “If there is one thing we could ask of people, it is to hold their children a little tighter, cherish every moment, and never take those precious memories for granted.”