Greens Senator Larissa Waters' daughter Alia may only be two months old but she has already made history by becoming the first baby to be fed on the floor of Federal Parliament.

"I am so proud that my daughter Alia is the first baby to be breastfed in the Federal Parliament," Senator Waters said.

Parliamentary rules were changed last year to allow mothers to feed their children in the chamber.

Previously parliamentary rules stated children were technically banned in the chamber and breastfeeding mothers were given a proxy vote.

"We need more women and parents in Parliament," Senator Waters posted on Facebook.

"And we need more family-friendly and flexible workplaces, and affordable child care, for everyone."

The change came after a 2015 controversy surrounding then assistant treasurer Kelly O'Dwyer, who was asked whether she had considered expressing more milk to avoid missing her parliamentary duties.

There have been numerous examples of serving politicians bringing their children into the chamber, including Greens senator Sarah Hanson-Young, who was forced to remove her then two-year-old during a division in June 2009.

Other politicians have brought their children into the chamber without incident during divisions, including former politicians Democrats senator Natasha Stott Despoja and former Labor leader Mark Latham.