By Andrew Brown and Dominic Giannini in Canberra

Anthony Albanese has spoken with incoming US President Donald Trump, the day after the Republican claimed victory to secure a second term in the White House.

The prime minister had a phone call with Mr Trump on Thursday with Mr Albanese congratulating him on the win, while also talking about AUKUS and trade.

Speaking to reporters, Mr Albanese said while the approach taken by the incoming administration would vary compared to previous presidents, the bond between the two countries would be strong.

“Our government will work closely with the new Trump administration to realise the benefits of what is a very strong economic and security partnership,” he said.

“President Trump has run a campaign based on change, he’s made it clear that he’s going to do things differently, so we shouldn’t be surprised as things change.

“But equally, we should be really confident in ourselves, our place in the world as well, and our ability to deliver in our interests together as Australians.”

Mr Trump became the first US president to serve non-consecutive terms in office since Grover Cleveland in 1892, defying the odds to return to the White House after being criminally convicted.

Foreign Minister Penny Wong said while there would likely be different approaches between the US and Australia on some policies, the two countries would continue to work closely together.

“It’s an alliance which has, throughout its history, have been times where leaders and governments have disagreed,” she told ABC Radio.

The prime minister also backed the performance of Australian ambassador to the US Kevin Rudd, despite Dr Rudd making previous comments criticising Mr Trump.

Social media comments from Dr Rudd had been deleted following the election.

Opposition foreign spokesman Simon Birmingham questioned at Senate estimates why it took the ambassador until after Mr Trump’s election to go back and delete critical tweets given he had been a diplomat for some 18 months.

Department officials pointed to Dr Rudd’s statement, saying it was out of respect for the office of president, to which Mr Trump had now been re-elected.

They defended his tenure amid criticisms he would be ineffective under a Trump presidency due to his previous critical statements, acknowledging the passing of key bipartisan legislation in Congress to enable AUKUS during his tenure.

“He has very extensive networks and we have no indication there will be any negative impacts in the United States to this deletion,” deputy secretary Elly Lawson said.

Senator Birmingham also questioned why the prime minister didn’t set up a meeting with Mr Trump while he was in America for the Quad meeting, given Indian Prime Minister Narendra Modi and UK Prime Minister Keir Starmer had done so

Former prime minister Malcolm Turnbull, who was in office during Mr Trump’s first term as president, said Mr Albanese needed to stand up for Australia’s interests.

“He’s unconventional in the sense that the only real decision maker in his White House was and will be himself,” he told ABC Radio.

“What Trump respects is strength, so if you suck up to Trump, you’ll just have to do more sucking up.”

Opposition Leader Peter Dutton also extended his congratulations to the Republican leader on behalf of the federal coalition.

He described the US as an “overwhelming force for good”, declaring the world was at its best when Australia’s close ally was strong and at its best.

Greens leader Adam Bandt said Mr Trump’s re-election was a “bad day for the world”, including women, people of colour and members of the LGBTQI community.