There have also been similar concerns regarding Uber in New Zealand.
Last year, The Listener reported that two local drivers were taking legal action against the company due to what they alleged were unfair policies.
There was also strong criticism from drivers in 2016 when fares were dropped by 27 percent.
Many local drivers told media that they could no longer afford to drive for the service, given that they were essentially making well below minimum wage.
"I started to feel like a dick," former Uber driver Arden MacDonald told The Listener.
"I would pull up and people would get in and go, 'Ha, this is cheaper than wearing out my shoes.' I thought, 'I'm not doing this – this is ridiculous.'"
Many other drivers have since called for greater protection and a more formal employment relationship, and these calls will only become louder as the gig-economy plays a bigger role in the delivery space.
An Uber spokesman told the Daily Telegraph the changes would destroy the company's flexible work arrangements, which is why 94 per cent of drivers signed up to work for Uber in the first place.
"There is demand for more flexible, independent forms of work and digital technologies are opening up reliable, diverse and unprecedented opportunities for income generation — often for those who need it most," he said.
TWU boss Tony Sheldon said food delivery companies were operating "in a similar way as the early days of industrialisation in the 1800s".
"The difference now is that change is coming via apps and by billionaires influential in the political system," he told the Daily Telegraph.
"It means workers ... are struggling to pay their bills and have no prospect for dignity in retirement because there is no superannuation being paid."
According to a TWU survey, three in four drivers in Sydney and Melbourne reported being paid below the minimum wage, with many having been injured while on the job.
Many delivery drivers also reported a lack of insurance cover and sick pay and 40-hour-plus working weeks, Fairfax reports.
The Australian campaign follows a recent British court decision which found Uber drivers should be classified as workers with minimum wage entitlements and holiday pay.
Rideshare Drivers United, which advocates for Australia's 60,000 Uber drivers, has estimated full-time drivers earn around $18.75 an hour, the Telegraph reported.
Deliveroo has a team of more than 3600 self-employed riders across Australia.
- News.com.au