Immigration Minister Peter Dutton says the Government will not be "blackmailed" by asylum seekers committing self-harm, after he faced criticism in the wake of the Baby Asha saga.

A censure motion against Mr Dutton failed in the House of Representatives today after the Coalition and Labor used their numbers to quash the motion.

The comments were made in response to questioning over the treatment of a one-year-old asylum seeker girl, who had been brought to Australia for medical treatment after suffering burns on Nauru.

The child, known as Baby Asha, and her family have since been transferred into community detention.

Mr Dutton confirmed that the baby and her family would be returned to Nauru after medical and legal issues were resolved, prompting questions in Parliament today.

Baby Asha has left Lady Cilento Children's Hospital. ( Supplied )

He said that the Government would "not be held to ransom" on the issue.

"We will not be blackmailed into changing this policy, because this policy has resulted in lives being saved," he said.

Mr Dutton said he was not going to preside over a situation where, in a bid to secure Australian citizenship, "we have people self-harming to come to hospitals in this country".

Independent MP Andrew Wilkie and Greens MP Adam Bandt later moved a censure motion against Mr Dutton, alleging that he was "implying that Baby Asha was deliberately harmed as a means for facilitating asylum seeker access to Australia".

Mr Bandt described the comments as disgusting, but Mr Dutton denied he was directly referencing the Asha case.

Mr Dutton further stated that he would not "cop sanctimonious lectures from the Greens".

"This cooked-up situation in Parliament today needs to be seen for what it is," he said.

"We are not going to tolerate these lectures from the Greens. That's why the censure motion should be rejected."

Labor's immigration spokesman Richard Marles said Labor would oppose the motion, due to its over-egged language.

It was defeated with Mr Wilkie, Mr Bandt and independent MP Cathy McGowan voting in favour.