The man who staged one of Australia’s most daring prison escapes when his girlfriend hijacked a helicopter is still behind bars.

A convicted armed robber who served time for a brazen helicopter escape from a Sydney prison is stuck behind bars despite being paroled.

John Killick, 72, was granted parole last week after serving 15 years in jail, including time for flying out of Silverwater jail in a helicopter that his girlfriend Lucy Dudko hijacked in 1999.

Magistrate Janet Wahlquist on Tuesday refused a request from Queensland police to extradite Killick, saying there were questions over the validity of the warrant.

It had been expected Killick would be extradited to Queensland to serve the remainder of a prison sentence, about two-and-a-half years, for an armed robbery committed 31 years ago.

But instead of walking out of Central Local Court a free man, the 72-year-old was to spend Tuesday night in custody because there was not enough time for his family to post a $5000 surety.

Court officials told AAP that Killick would remain in holding cells at Surry Hills until bail could be posted.

Killick must observe strict parole conditions, including that he wear an electronic monitoring device and is not allowed to contact Dudko, who was released in 2006 for her part in the jail escape.