Japan has called in the Australian and Dutch ambassadors in Tokyo to urge them to rein in anti-whaling protesters.

The diplomatic move by Japan comes after protesters on Monday pelted a Japanese whaling ship in Antarctic waters with foul-smelling acid and "slippery" powder.

The Australian government condemned the actions of protest group Sea Shepherd, which says it threw beer bottles containing butyric acid, found in rotten butter, at the whaling ship Nisshin Maru.

Japan described the US-based Sea Shepherd as "terrorists" and has lodged protests with Australia, where the Sea Shepherd's Steve Irwin vessel last called into port, and The Netherlands, where the boat is registered.

Japan summoned Australian Ambassador Murray McLean and Dutch Ambassador Alphons Hamer, urging them to prevent more clashes, the Japanese foreign ministry said.

Japan complained that several crew members were hurt in Monday's clash, but Sea Shepherd denied anyone had been injured.

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