One Nation senator Malcolm Roberts has accused commentator Waleed Aly of condoning Islamic terrorism in a live television interview on The Project that appeared to leave the show's panel members fuming.

The Queensland senator was a guest on the Channel Ten program on Wednesday night, after an Essential Research poll released that day found 49 per cent of Australians supported a ban on Muslim immigration into the country.

Senator Roberts, who lists "the great Pauline Hanson" as his mentor and compared himself to Socrates in his maiden speech to Parliament this month, could not provide any figures to back up his party's position that Australia was being "swamped by Muslims".

Senator Roberts then took aim at Aly, who was ill that night and did not appear in his usual role as the show's co-host.