HMAS Adelaide was due to depart Sydney on Tuesday bound for north Queensland and will berth at Townsville in late April.
The ship is one of the navy’s two landing helicopter docks and carries a crew of about 360 personnel.
While the navy has suspended training exercises, deployments and other activities, it defended the decision to still send HMAS Adelaide to sea, saying it was undergoing “essential training”.
“All crew will be screened for COVID-19 symptoms before departure,” the Defence Department said.