Federal politicians are rallying behind protesters on the streets of Hong Kong by forming a new friendship group that will speak up for autonomy in the territory in the face of strong Chinese control.

Hong Kong police have arrested hundreds of protesters, including pro-democracy leaders and some lawmakers, over three months of violent demonstrations which have forced the withdrawal of new laws that would have given authorities the formal power to extradite people to mainland China.

Pro-democracy activists have vowed to continue their protests, claiming the bill's withdrawal was "too little, too late".

Labor senator Kimberley Kitching and Victorian Liberal MP Kevin Andrews intend to establish the Parliamentary Friends of Democratic Hong Kong group, calling for the protection of democracy in Hong Kong and promoting a peaceful end to the violence.