Joyce, the former deputy prime minister and former deputy chair of the national security committee, is among a cross-party group of federal politicians visiting Taiwan this week.
The group is not on a formal government trip. Visits by sitting ministers or prime ministers are considered to be highly provocative by the Chinese government.
The prime minister, Anthony Albanese, has played down the trip, saying it is simply a resumption of bipartisan trips by MPs that were only suspended after 2019 because of the pandemic.
Joyce said he was returning to Australia on Thursday night.
