The Tesla Model S is the subject of a "voluntary, proactive recall" relating to an issue with the car's seatbelt pretensioners.

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According to the US electric car brand, a Model S in Europe - that was not involved in an accident, and there were no injuries - was found to have a front seatbelt that was not "properly connected to the outboard lap pretensioner". According to Tesla, in the event of an accident this seatbelt "would provide full protection".

The company claims this may be the only vehicle on the planet with this problem, and that it has since checked more than 3000 Model S' and found no issues. But it now plans to recall and inspect every Model S sold worldwide - approximately 90,000 vehicles - to "make absolutely sure that they are properly connected".

The company stressed in a release that this action had been taken "without any inquiry of any kind from a regulatory authority".

"While most manufacturers do not undertake voluntary recalls, integrity and transparency matters at Tesla, even if we ultimately discover nothing. This effort is simply a precautionary measure which underscores how much we care about our customer’s safety," the statement read.

Tesla will send owners a recall notice by mail, and the inspection will be free. The inspection can be booked over the web, or by visiting a Tesla service centre. Or owners can call 1800 646 952.

Owners have the option to do a precautionary check, according to Tesla.

"You may be able to detect this condition by pulling very firmly on the lap portion of your seat belt with a force of at least 80 pounds (37 kilograms). This procedure may detect an improperly attached seat belt but performing this procedure does not replace the need for an inspection by a Tesla technician."