Australia has voted against a proposal in the United Nations Security Council demanding Israel end the occupation of Palestinian territories within two years.

Australia joined the United States as the only two countries to vote against the draft resolution in New York on Tuesday, local time.

Palestinian Ambassador to the United Nations Riyad Mansour during the UN Security Council meeting. Credit:AP

It was the first time Australia has voted against a proposed resolution during a two-year term on the council.

But the resolution presented by Jordan on behalf of Arab nations also failed to win majority support.