The Queensland Police Service has defended its speed camera program after the state's audit office slammed it for not using enough hidden cameras to catch dangerous drivers.

Tuesday's report from the Queensland Audit Office accused police of not using their full quota of covert camera hours because of "an apparent desire to avoid perceptions of revenue raising".

More than $667 million of fines were collected in Queensland over a seven-year period. Credit:File photo

Police were also criticised for not deploying enough hidden cameras on weekends and not doing enough to ensure its cameras could read personalised number plates.

In response, a police spokeswoman said the QPS would consider the QAO's recommendations around camera hours and technology.