Watch as an adult lion and his cubs escape their enclosure from Taronga Zoo mesh fencing

The November 2 escape made headlines around the world after five lions - four cubs and an adult male - scratched their way through a mesh fence.

Lion cubs Luzuko, Zuri, Khari, Malika and father Ato slipped through an opening in the mesh enclosure and can be seen in the footage exploring the outside perimeter of their home.

Lioness Maya and cub Ayanna remained in the enclosure.

After several attempts, Luzuko, Zuri, Khari, and Ato made their way back through the fence after being called in by their keepers.

Cub Malika was tranquilised and taken back to the pride.

In a statement Taronga Zoo said the animals' return to their enclosure was "peaceful".

"The emergency response including staff in multiple vehicles was established to monitor and control the situation," the statement read.

"This enabled the keepers to use their relationships with the lions, as well as their training for such incidents, to calmly call the lions back to their exhibit, ensuring a peaceful and safe outcome for all people and animals."

Taronga Zoo has since hired an independent investigator to uncover how the mesh was breached.