The mandate ended at 12.01am on Friday but travellers are 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.
Isolation has 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.
Pandemic Leave Disaster Payment rules have changed to reflect the minimum isolation period for anyone applying.
It comes as Australian states and territories will from Saturday no longer provide daily case figures.
The federal government will instead issue weekly data on new cases, deaths, hospitalisations and ICU admissions.
There were 9176 new cases and 74 deaths reported across Australia on Thursday.
LATEST 24-HOUR COVID DATA:
NSW: 2881 cases, 21 deaths, 1503 in hospital with 27 in ICU
Victoria: 2106 cases, 41 deaths, 213 in hospital with 13 in ICU
Queensland: 1426 cases, 10 deaths, 222 in hospital with six in ICU
Tasmania: 176 cases, no deaths, 21 in hospital with one in ICU.
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