​Three Melbourne brothers who staged and filmed hoax attacks on members of the public have been charged and put on strict bail conditions preventing them from uploading similar videos online.

The brothers, aged 20, 18 and 16, were taken into custody after counter-terrorism detectives executed a warrant at their home on Thursday morning.

A screenshot of a prank drive-by shooting video performed by the brothers which scared a young girl and her father.

The trio drew the attention of police after staging fake bombings and abductions in public and then posting the videos on YouTube.

Police charged the three brothers later on Thursday with public nuisance, possessing a prohibited weapon and behaving in an offensive manner in a public place.