A man has been charged with murder after three people were allegedly kidnapped and tortured for hours, leaving one of them dead.

Queensland Police have charged the 31-year-old following the death of a 52-year-old man on Sunday in Brisbane’s southwest.

He has also been charged with grievous bodily harm, armed robbery and two counts each of kidnapping and torture.

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Police said the 52-year-old and two friends met their alleged attacker in the suburb of Inala and were taken against their will “under significant threat of violence”.

“They were taken to another location where they were subject to more violence over a number of hours before later being returned to their vehicle,” Detective Inspector Chris Knight told reporters on Friday.

The 52-year-old man’s friends took him later that night to Logan Hospital, where he succumbed to his injuries on Tuesday.

Police allege the attack was a planned and co-ordinated effort to extort.

“We believe that they either knew the individuals personally or were introduced by a third party, but some of those facts are still still being explored,” Det Insp Knight said.

One of the other men suffered cuts, bruises and a broken leg, and the other had serious facial injuries.

“I’ve been a police officer for a long time and any violence that results in a person’s death is quite obviously absolutely deplorable,” Knight said.

“But the extent of the violence in this matter is even above those normal expectations. I’m not saying it’s unprecedented, but it is highly unusual.”

Police are appealing for public help to find a silver 2008 XF Jaguar sedan.

The 31-year-old Birkdale man will face Brisbane Magistrates Court on Saturday.