A regional Queensland cafe owner praised for her response to a breastfeeding incident said she was only doing what was right and it was time more people stood up to defend the right of women to breastfeed in public.

Jessica-Anne Allen asked a customer to leave Cheese and Biscuits, the cafe she runs with her husband Stephen in Rockhampton, after he asked a customer breastfeeding her infant to "cover up".

Ms Allen said "a middle aged gentleman" returned to the counter after ordering a coffee on Wednesday to "inform us there was a mother breastfeeding out there and we might want to ask her to cover up".

"We told him that we are a breastfeeding friendly cafe, that we have mothers' groups and ladies who come and breastfeed all the time and we would never ask a mother to cover up when she is feeding her child," she said.