I think "swish" is the right onomatopoeic word for this. It is usually used for the sound of movement in air but it applies to water as well.

swish vb 1. to move with or make or cause to move with or make a whistling or hissing sound

swish sound of an object moving through air or water

Examples from books:

The Heart Mender by Sally Streib:

Silent Victory By Clay Blair

North Star of Herschel Island - the Last Canadian Arctic Fur Trading Ship By R. Bruce MacDonald

I believe swish is the right onomatopoeic word. It can be used both as a noun and a verb. It is usually used for the sound of movement in air but it is used for the sound of movement in water as well.

The noun definition in OED:

hissing sound like that produced by a switch or similar slender object moved rapidly through the air or an object moving swiftly in contact with water; movement accompanied by such sound.

The verb definition in OED:

intransitive. To move with a swish (see swish n.¹ 1); to make the sound expressed by ‘swish’.

Example usages from books:

The Heart Mender by Sally Streib:

Rainbows of fish swished past me as I glided along.

Apocalypse Undone: My Survival of Japanese Imprisonment During World War II By Preston John Hubbard:

Given our position in the convoy, it is clear that the torpedo had swished by our ship by the narrowest of margins.