Australia’s ambassador has been stationed in Poland for the past year, after leaving Ukraine when Russian troops massed at the border ahead of Moscow’s invasion in February.

Ukrainian ambassador Vasyl Myroshnychenko says Australia could be missing out on vital information and meetings by not being on the ground.

“There could be lots of co-ordination between Five Eyes ambassadors,” he told AAP.

“There could also be other meetings for ambassadors that can only take place in person.”

He said being on the ground would enable Australia to better co-ordinate with G7 countries, with a reliance on foot traffic through Warsaw – where the ambassador is stationed – making it harder to maintain diplomatic relationships.

“I want to take our relationship to a new level with complete representation,” he said.

“Both countries would be better off if we have a physical presence there. It will be in both the interests of Australia and Ukraine.”

Foreign affairs department secretary Jan Adams defended her decision to withhold the ambassador from returning to Ukraine despite other nations doing so, saying she was being guided by security advice.

Fronting a parliamentary inquiry, Ms Adams said the situation on the ground hadn’t improved in recent months with missiles striking Kyiv as recently as last week.

She said the embassy in Poland was operating “satisfactorily” and Australia continued to work effectively with its partners.

Mr Myroshnychenko said it should be the government’s priority to increase its representation on the ground.

The ambassador is due to deliver a speech at the National Press Club on Friday to mark the one-year anniversary of the invasion.