The woman, in her 50s, was trampled by a camel that was "roaming free" on Noosa Street at Mothar Mountain in Gympie about 10am, according to a Queensland Ambulance Service spokesperson.

She was taken to Gympie Hospital with wrist injuries.

It is not known where the camel came from.

The trio wandered across three suburbs before being caught.

The escape happened because of the camels allegedly managed to open the gate of the pen where they were being kept.