The royal yacht Royal Escape is shown in the right foreground, in a lively sea among other shipping. She is viewed from before the starboard beam and flies a red ensign, jack and the common pendant of a man-of-war at the masthead. In the left background is a two-decker at anchor, almost in stern view and a little on the starboard quarter. In the right background there is a small sprit-rigged vessel close-hauled on the port tack. There are several other ships visible in the distance.

The Royal Escape was a coasting collier previously known as the Surprise, in which King Charles II escaped to France after his defeat by Cromwell at Worcester in September 1651. On his restoration in 1660 the King purchased the ship, commissioned her as a royal yacht and renamed her. He kept her in the Thames, moored opposite the Palace of Whitehall 'as a reminder to himself and his subjects'.

The artist was younger son of Willem van de Velde the Elder. Born in Leiden, he studied under Simon de Vlieger in Weesp and in 1652 moved back to Amsterdam. He worked in his father's studio and developed the skill of carefully drawing ships in tranquil settings. He changed his subject matter, however, when he came with his father to England in 1672-73, by a greater concentration on royal yachts, men-of-war and storm scenes. From this time painting sea battles for Charles II and his brother (and Lord High Admiral) James, Duke of York, and other patrons, became a priority. Unlike his father's works, however, they were not usually eyewitness accounts. After his father's death in 1693 his continuing role as an official marine painter obliged him to be more frequently present at significant maritime events. The painting is signed 'W.V.Velde' in the right foreground.