The mandate ended at 12.01am on Friday but are travellers still advised to consider wearing them for their own safety.
Federal Health Minister Mark Butler said the change was endorsed by the chief medical officer.
“I encourage everyone travelling overseas to be mindful of the continuing risk of Covid-19 and to take personal precautions to stop the spread and stay safe,” he said.
Face coverings are also no longer required on domestic flights, under previously flagged changes also in effect from Friday.
Covid-19 isolation has now been reduced to a minimum of five days for people with no symptoms.
Workers in high-risk settings like aged care, disability and home care must still isolate for seven days.
Rules regarding the Pandemic Leave Disaster Payment have changed to reflect the minimum isolation period for anyone applying.
From Saturday, Australian states and territories will no longer provide daily Covid-19 figures.
The federal government will instead issue weekly data on new cases, deaths, hospitalisations and ICU admissions.
There were 9176 new Covid-19 cases and 74 deaths reported around Australia on Thursday, with 2388 people in hospital with the virus including 64 in ICU and 17 on a ventilator.