Speaking to Sky News, Albanese said: "I can confirm that there were three Australian personnel on board that vessel".

The personnel were onboard the submarine as part of training arrangements under AUKUS, a multi-decade defence pact with Britain and the United States, Albanese said.

"These are long standing third country arrangements that have been in place for a long period of time," he said.

"I can confirm also, though, that no Australian personnel have participated in any offensive action against Iran," he added.

At least 84 sailors were killed in Wednesday's torpedo attack on the IRIS Dena -- the first military strike far outside the Middle East region since the United States and Israel launched their war on Iran.

Tehran's foreign minister Abbas Araghchi has accused the United States of committing an "atrocity" and warned Washington would "bitterly regret" the precedent set.