"He described it as a prison but a new one. A small prison but one where the conditions are good," Senator Carr told ABC radio.
"They're under guard, they're under duress."
He said the Libyans are attaching a great importance to the case.
"The disturbing part of his report is that there's no evidence of a Libyan interest in an early release," he said.
"Indeed, there's the suggestion they might be seeking to hold the detainees for 45 days, which they have said is the time they need for these sort of investigations."
Senator Carr said it was concerning Ms Taylor had been denied the chance to make phone contact with her husband in The Hague and her Brisbane-based parents.
"Nonetheless, Melinda wanted it to be known that her family is not to worry," he said.
"The accommodation is actually surprisingly good - air conditioning, television, fridges with fruit and yoghurt."
Senator Carr said the Australian government would continue to push for full consular access and Ms Taylor's early release.
- AAP