One of nine Australians who spent four nights in police detention in Malaysia for partying in skimpy swimsuits printed with the Malaysian flag has returned to Australia and urged other travelers to be culturally aware.

The nine friends were detained on Sunday after they partied and drank beer from shoes at the Formula One Sepang race track.

Most returned to Australia after pleading guilty in a court on Thursday to causing a public nuisance.

Nick Kelly told reporters in Sydney on Friday that Australians should "be very aware of the cultural differences and sensitivities that exist in other nations."

Australian media dubbed them the Budgie Nine. A budgerigar is a small Australian parrot that is a popular household pet, and men's swimwear in Australia is colloquially known as budgie smugglers.