The guided-missile frigate HMAS Melbourne steamed to the aid of the tanker CPO China after it was boarded by pirates on Monday night Australian time, the Defence Department said.
HMAS Melbourne was more than 260 kilometres away when alerted to the incident but covered the distance in a little over six hours.
While en route its helicopter raced ahead to the CPO China and "was able to deter the pirates from attempting to take control of the ship".
"As a result the pirates aborted the attack and left the vessel when Melbourne arrived on the scene," Defence said in a statement on Wednesday.
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Earlier, the tanker's crew had locked themselves into a stronghold from where they could maintain control of the ship.
The crew also remained in satellite communications with the outside world after the pirates boarded.
HMAS Melbourne is serving with the Combined Maritime Force's counter-piracy mission.
Australian frigates are regularly deployed to the Middle East Area of Operations to provide maritime security.
Australia's Middle East Commander Major General John Cantwell said a key objective was to assist the international community in reducing acts of piracy.
"Our men and women aboard HMAS Melbourne deserve recognition for their role in providing maritime security and countering piracy in the Arabian Sea," he said in a statement.
"This is one of those occasions where their efforts have become highly visible."
