The findings highlight the importance of keeping humpback "nursery" waters as quiet as possible, say the scientists, whose findings appear in the journal Functional Ecology.
"Because mother and calf communicate in whispers, shipping noise could easily mask these quiet calls," said Videsen.
The team tagged eight humpback calves and two mothers with suction cup devices that recorded both their sounds and movements for up to 48 hours before detaching and floating to the surface.
Humpback whales breed in the tropics during winter and then migrate thousands of miles to their summer feeding grounds in the Arctic and Antarctic.
"We know next to nothing about the early life stages of whales in the wild, but they are crucial for the calves' survival during the long migration to their feeding grounds," Videsen said.
"This migration is very demanding for young calves. They travel 5000 miles across open water in rough seas and with strong winds. Knowing more about their suckling will help us understand what could disrupt this critical behaviour, so we can target conservation efforts more effectively."
- PA, AAP