Geoscience Australia carried out marine surveys in Jervis Bay (NSW) in 2007, 2008 and 2009 (GA303, GA305, GA309, GA312) to map seabed bathymetry and characterise benthic environments through co-located sampling of surface sediments (for textural and biogeochemical analysis) and infauna, observation of benthic habitats using underwater towed video and stills photography, and measurement of ocean tides and wave-generated currents. Data and samples were acquired using the Defence Science and Technology Organisation (DSTO) Research Vessel Kimbla. Bathymetric mapping, sampling and tide/wave measurement were concentrated in a 3x5 km survey grid (named Darling Road Grid, DRG) within the southern part of the Jervis Bay, incorporating the bay entrance. Additional sampling and stills photography plus bathymetric mapping along transits was undertaken at representative habitat types outside the DRG. The GA0309_0312_JervisBay2008 folder contains video footage; the GA0326_JervisBay2009 folder contains still images; and the files are the video characterisation datasets. Underwater towed-video footage and still images represent the raw data. Video characterisation datasets include substrata types and the presence/absence of benthic taxa. This dataset is a contribution to the CERF Marine Biodiversity Hub.