Dr Rudd has been criticised by the opposition for a history of disparaging comments towards Mr Trump before he was appointed ambassador and the former president was re-elected.
Prime Minister Anthony Albanese has defended the bilateral relationship and expressed confidence in Dr Rudd's ability to do his job.
Asked about the contact, Mr Albanese started his answer with "a number of weeks" before pivoting to "well in recent times".
But he refused to elaborate on the details about whether it was in person.
"We engage diplomatically rather than go into those details, that's how we get things done, that's how you do diplomacy and that's how you get results," he told ABC radio on Friday.
Kevin Rudd, and foreign minister Penny Wong will attend Donald Trump's inauguration. (AP PHOTO)
"Kevin Rudd has worked very hard to develop relationships with the incoming administration.
"I'm very confident that Australia is showing the importance we place in the United States relationship by having a former Prime Minister as our ambassador."
Foreign Minister Penny Wong and Dr Rudd will attend Mr Trump's inauguration on Monday local time.
Opposition Leader Peter Dutton has expressed confidence that the AUKUS alliance with America and Britain, under which Australia will acquire nuclear powered submarines, "will thrive" under the Republican president.
His presidency was an opportunity to expand the relationship, with AUKUS being essential to Australia's national security, he said.
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