Police allege the 22-year-old was taken from her Darra home about 5pm on Monday and held against her will for 17 hours.

It's alleged she was sexually assaulted and threatened with further violence, before she was driven to a number of nearby locations including truck stops and an industrial estate at Rocklea and assaulted.

The woman was released on Tuesday, found police and was then taken to hospital for treatment of non-life-threatening injuries.

The 50-year-old San Remo man was arrested in Grafton, New South Wales, and extradited to Queensland on Wednesday.

A New South Wales police spokeswoman said officers from Clarence, acting on information from Queensland police, stopped a truck travelling south on the Pacific Highway near Grafton and arrested the man.

The man was charged with a number of serious offences including deprivation of liberty, kidnapping, common assault, enter premises to commit indictable offence, attempted robbery threatening violence and enter dwelling with intent.

The man is due to appear in the Brisbane Magistrates Court on Thursday.