<?xml version="1.0"?>
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    <periodOfReport>2012-12-31</periodOfReport>

    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0000866829</issuerCik>
        <issuerName>HELIX ENERGY SOLUTIONS GROUP INC</issuerName>
        <issuerTradingSymbol>HLX</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001375840</rptOwnerCik>
            <rptOwnerName>Johnson Alisa B</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>400 N SAM HOUSTON PARKWAY E, SUITE 400</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>HOUSTON</rptOwnerCity>
            <rptOwnerState>TX</rptOwnerState>
            <rptOwnerZipCode>77060</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>1</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
            <officerTitle>Exec.VP &amp; Gen Counsel</officerTitle>
        </reportingOwnerRelationship>
    </reportingOwner>

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            <securityTitle>
                <value>Common Stock</value>
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                <value>2012-12-31</value>
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            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>S</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
            </transactionCoding>
            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>7000</value>
                </transactionShares>
                <transactionPricePerShare>
                    <value>20.53</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>D</value>
                </transactionAcquiredDisposedCode>
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                <sharesOwnedFollowingTransaction>
                    <value>130143</value>
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                    <value>D</value>
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                <value>Common Stock</value>
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                <equitySwapInvolved>0</equitySwapInvolved>
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            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>8000</value>
                </transactionShares>
                <transactionPricePerShare>
                    <value>20.54</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>D</value>
                </transactionAcquiredDisposedCode>
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                <sharesOwnedFollowingTransaction>
                    <value>122143</value>
                </sharesOwnedFollowingTransaction>
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        <nonDerivativeTransaction>
            <securityTitle>
                <value>Common Stock</value>
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            <transactionDate>
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            <deemedExecutionDate></deemedExecutionDate>
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                <transactionFormType>4</transactionFormType>
                <transactionCode>A</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
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                <value></value>
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            <transactionAmounts>
                <transactionShares>
                    <value>12718</value>
                </transactionShares>
                <transactionPricePerShare>
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                </transactionPricePerShare>
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                    <value>134861</value>
                </sharesOwnedFollowingTransaction>
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                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
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    <derivativeTable>
        <derivativeTransaction>
            <securityTitle>
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                <equitySwapInvolved>0</equitySwapInvolved>
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                <value></value>
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                <transactionShares>
                    <value>25436</value>
                    <footnoteId id="F3"/>
                </transactionShares>
                <transactionPricePerShare>
                    <value>0.00</value>
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            <exerciseDate>
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            <expirationDate>
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            <underlyingSecurity>
                <underlyingSecurityTitle>
                    <value>Common Stock</value>
                </underlyingSecurityTitle>
                <underlyingSecurityShares>
                    <value>25436</value>
                    <footnoteId id="F3"/>
                </underlyingSecurityShares>
            </underlyingSecurity>
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                <directOrIndirectOwnership>
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    <footnotes>
        <footnote id="F1">This restricted stock award was granted pursuant to the Company's 2005 Long Term Incentive Plan (as Amended and Restated effective May 9, 2012) and therefore has no purchase or sales price.</footnote>
        <footnote id="F2">Each Performance Share Unit (&quot;PSU&quot;) represents the contingent right to receive one share of Helix Energy Solutions Group, Inc. (&quot;Company&quot;) common stock.  Actual number of shares upon vesting may range from 0% to 200% dependent on the Company's relative shareholder return as compared to its peer group over a three-year period beginning January 1, 2013 and ending December 31, 2015.  The Compensation Committee has the option to pay the value in cash at its discretion.</footnote>
        <footnote id="F3">Amount reported is 200% of the number of PSUs granted and the maximum number that may be earned.</footnote>
        <footnote id="F4">Upon payment of the PSUs which shall occur no later than March 15, 2016.</footnote>
    </footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>/s/ Alisa B. Johnson</signatureName>
        <signatureDate>2013-01-03</signatureDate>
    </ownerSignature>
</ownershipDocument>
