Two men have been charged over the death of a woman whose bruised and bloodied body was found on a beach on the NSW North Coast four years ago.

Lynette Daley, 33, died from severe blood loss after she was allegedly raped on Ten Mile Beach, north of Iluka, during an Australia Day camping trip in 2011.

Ms Daley had been camping at the beach with two men - Adrian Attwater, 42, who claimed to be her boyfriend, and Paul Maris, 46.

Lynette Daley died on Ten Mile Beach in January 2011. Photo: Nine Network/Supplied

An autopsy found Ms Daley died from blood loss from horrific internal and external injuries after a violent sex act was performed on her. 

Police initially charged Mr Attwater and Mr Maris over Ms Daley's death but, in 2012, the Office of the Director of Public Prosecutions decided not to proceed with the prosecution.

Last month, the Director of Public Prosecutions, Lloyd Babb, SC, took the rare step of asking an independent legal adviser to review the case, including whether Mr Attwater and Mr Maris should proceed to trial.

That review followed a Four Corners investigation that aired last month, in which the two men now charged over Ms Daley's death were shown in police videos recorded at the time of Ms Daley's death describing events that took place in the back of Mr Maris' four-wheel-drive.

Ms Daley's family and supporters had been highly critical of the DPP for not prosecuting the two men. 

NSW Attorney-General Gabrielle Upton and Clarence MP Chris Gulaptis had also called for action, while an online petition was signed by more than 30,000 people calling for the men to be prosecuted.

After receiving that independent legal advice, Mr Babb said on Tuesday that he had decided to prosecute the two men.

Mr Attwater has been charged with manslaughter and aggravated sexual intercourse without consent, while Mr Maris faces charges of aggravated sexual intercourse without consent and accessory after the fact to manslaughter.

"I acknowledge the distress this matter has bought [sic] to Ms Daley's family, and the concern it has caused the community," Mr Babb said in a statement.

"The matter is now before the court and no further comment will be issued."

Following the announcement, Ms Upton said the "death of Lynette Daley is a truly awful case".

Mr Attwater and Mr Maris are due to appear in Grafton Local Court on August 2.