Libyan rebels have released a British special forces team who were detained when a mission to contact opponents of Colonel Muammar Gaddafi went wrong, it has been revealed.

The eight-strong group, who were escorting a junior diplomat, has now left the country bound for Malta on board HMS Cumberland.

However, Foreign Secretary William Hague said the government intended to send further diplomatic personnel soon to "strengthen dialogue" with rebel leaders.

"I can confirm that a small British diplomatic team has been in Benghazi," Mr Hague said. "The team went to Libya to initiate contacts with the opposition. They experienced difficulties, which have now been satisfactorily resolved. They have now left Libya."

Meanwhile, at least 18 people, including a baby, have been killed in fighting between forces loyal to Libyan leader Muammar Gaddafi and rebels in the town of Misrata.

Eyewitnesses and rebel sources say that the towns of Tobruk and Ras Lanuf, which government forces claim to have retaken, actually remain under rebel control.