The camera was discovered in a cabin aboard the HMAS Leeuwin on October 11, while the ship was docked in Cairns.
Three days later, the allegation was aired on the Senate floor by Tasmanian independent Jacqui Lambie, who said the video recording device had been found hidden in a women's shower.
The defence force confirmed the incident hours later.
During Senate estimates hearings on Thursday, Defence Force Chief Mark Hammond expressed dismay at how the alleged sexual harassment incident became public.
"The investigation was underway before you drew national attention to it," Admiral Hammond told Senator Lambie during proceedings.
"My preference, if you would indulge me, would be to where you become aware of an active investigation, perhaps bring it to my attention first."
A former member of the navy had tipped off Senator Lambie, herself a military veteran, that the device had been found.
At the time, the senator expressed concern footage had been uploaded online before the cameras were discovered, but Navy Chief Vice Admiral Mark Buckley said there was no evidence of that.
The navy member who allegedly planted the device was stood down without pay on October 19. The investigation is ongoing.
Admiral Hammond rejected a suggestion from Senator Lambie sexual violence investigations should be taken out of the defence force's hands.
"You will find an ally in me," he said.
"80 per cent of the three star (generals) in this room have partners or children serving in the Australian Defence Force - I assure you we are absolutely committed to eradicating sexual violence."
In his opening statement, the defence chief called the incident on HMAS Leeuwin a "betrayal" and "appalling violation of trust", and vowed to hold those responsible to account.
"My top priority is ensuring that those affected by this incident receive the support they need," he said.
Admiral Hammond said top brass were obliged to report any sexual violence allegations to him within minutes or hours and reassured Senator Lambie he had been notified of the HMAS Leeuwin incident in a timely manner.
The ship is back at sea after a sweep of the navy's whole fleet found no other recording devices.
1800 RESPECT (1800 737 732)
National Sexual Abuse and Redress Support Service 1800 211 028
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