Bin Salman’s £44-million ($59 million), 225-foot vessel was stopped outside St Anthony’s Head lighthouse near Falmouth in Cornwall.
The Daily Mail said the boat's anchor was dropped in the St Mawes Castle area, which provides breath-taking views of the Cornish coast.
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This comes after a photo was published on Monday by the Wall Street Journal showing Cameron with supply chain financier Lee Greensill in what The Times called a "desert camping trip to lobby Mohammed bin Salman".
Cameron became an for Greensill's finance company in August 2018, taking a stake in the firm.
MbS was not featured in the image.
Cameron in a statement that he was in Saudi Arabia in January 2020 “to advise on their forthcoming chairmanship of the G20".
He also said he wished to help Greensill in his attempts to launch a regional office in Riyadh but that he raised human rights issues on the trip to Saudi Arabia.
The scandal concerns the appropriateness of an ex-prime minister conducting such lobbying activities.
There is no suggestion that Cameron has violated any rules.
This is not the first time that bin Salman’s yachting activities have been subject to significant media interest.
It was previously claimed that another boat belonging to MbS had a on board.
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