Kelly, who escaped from custody at the Ballarat police station on Dana Street on Monday about 6.55pm, returned to the police station about 5.30pm on Tuesday - just shy of 24 hours later.

Earlier on Tuesday, Ballarat's top cop Jenny Wilson said she was "disappointed" a man was able to escape from the station.

"He has escaped custody previously which would indicate to me that he had a good understanding of the layout of the police station and that aided his confidence this time," she said in a press conference.

Kelly, known to be violent according to the police, was in custody in relation to serious assaults, while he also has an outstanding corrections warrant.

Following his escape from the station, it is alleged Kelly attempted to steal at least one occupied car but was unsuccessful.

Police conducted a search late into the night, but he was not located.

Kelly also escaped the police station in 2010 when he scaled the barbed-wire fence and ran from the complex after going outside for a cigarette.

He was found three weeks later in Ceduna, South Australia.

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