A woman has been charged with abducting a five-year-old girl, sparking a frantic five-hour search in central Queensland on Wednesday.

Police will allege the 24-year-old woman targeted the child at random and snatched her from Malakoff Street in Biloela, 144 kilometres south of Rockhampton, between 2.45pm and 3.15pm.

A member of the public saw the blue 2004 Holden Commodore sedan the woman was believed to be driving in the Calliope area about 7pm, an hour after the alert was issued.

The girl was found safe following the vehicle sighting and the woman was arrested at the scene.

It will be alleged the woman did not know the child.

The Emerald woman was charged overnight with abduction, unlawful use of a motor vehicle, driving whilst unregistered and holder of a class C learner licence failure to comply with requirements.

The matter was due to be heard in the Gladstone Magistrates Court on Thursday.