Water Police have rescued a wallaby found fatigued and swimming in circles 6.2 kilometres off the South East Queensland coast.

A member of the public came across the animal by chance last Wednesday and monitored her for two hours.

They were afraid of being injured in an attempt to rescue the wallaby, so decided to call for help when it started going downhill.

When Acting Sergeant Gene Hill arrived the wallaby, nicknamed Dawny after swim legend Dawn Fraser, was doing doggy paddle — or what he called "roo paddles" — in circles.

She was clearly distressed.

"We treated this call as urgent as any other call," he said.

Dawny was rescued from waters off North Stradbroke Island in South-East Queensland. ( Supplied: Queensland Police Service )

Acting Sergeant Hill said his team followed their emergency drill, the same as they would for a human rescue, and scooped up Dawny from the water.

The animal was covered in a secure bag to keep it warm and to protect the rescuers from its claws.

"I think she was so relieved to have somebody bring her out of the water, she didn't resist at all," he said.

"She was very relieved to be in the boat.

"It was a great sense of satisfaction."

Water Police rescued Dawny last Wednesday morning. ( Supplied: Queensland Police Service )

Acting Sergeant Hill said it was one of the most rewarding rescues in his seven-year career.

"I gave her lots of cuddles on the way back to shore and she didn't object in any way, and I think she was happy with the attention," he said.

"It was a good feeling all around."

Dawny was released into scrub on North Stradbroke Island. ( Supplied: Queensland Police Service )

Dawny was taken to North Stradbroke Island and released into the scrub.

"She was a bit unsteady on her feet at first, but then she bounded away, I guess to swim another day," Acting Sergeant Hill said.

"I have no idea why she was so far out, and whether she got caught in a rip.

"I've since found out they can swim quite lengthy distances, but 6.2km, I don't think I could make that distance.

"She certainly did very, very well to get where she did."