The fastest growing region in Australia was the southwest of the ACT, which grew by 38 per cent.
ABS director of demography Beidar Cho said that as of June 30, 2016 there were 5,005,400 people living in the New South Wales capital, up 82,000 from the previous year.
"It took Sydney almost 30 years, from 1971 to 2000, to grow from 3 million to 4 million people, but only half that time to reach its next million," she said.
Terry Rawnsley, an economist at consultancy SGS Economics and Planning, told the Sydney Morning Herald the city's population rise is being driving by robust economic growth.
He predicted the city would reach a population of 6 million by 2028 at current growth rates.
Victoria was the fastest growing state, increasing by 2.1 per cent, followed by New South Wales and Queensland (both 1.4 per cent), the Australian Capital Territory (1.3 per cent) and Western Australia (1.0 per cent).
The Northern Territory had the slowest growth (0.2 per cent), followed by South Australia and Tasmania (both 0.5 per cent).
Australia's estimated resident population (ERP) reached 24.1 million at 30 June 2016, increasing by 337,800 people or 1.4 per cent since 30 June 2015.
The growth rate was unchanged from 2014-15.