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As the variety and complexity of tasks carried about by telerobotic systems underwater increases, so does the demand for technology that increases efficiency and safety of operations. We present a novel approach to subsea manipulation that leverages the natural perceptive capability of human pilots. We present a method and framework for generation and rendering of six degree-of-freedom haptic virtual fixtures based on streaming point cloud data captured by an RGB-D sensor. Sensor data is captured at 30 Hz and virtual fixtures are constructed in real-time in parallel on a GPU. The method is applied to two typical underwater telerobotic valve operations by implementing a forbidden-region virtual fixture and a guidance virtual fixture. During operation, real-time haptic feedback is sent to the operator at 1000 Hz. This haptic feedback allows pilots of remotely-operated vehicles to receive sense of touch feedback …