An Australian Defence Force soldier and son of a former federal minister has died after a parachute malfunction during a training exercise.

Lance Corporal Jack Fitzgibbon was a “much loved and respected soldier”, acting special operations commander Brigadier James Kidd said on Thursday.

He is the son of former defence minister Joel Fitzgibbon.

The incident occurred on Wednesday night during what defence described as a routine training activity at the RAAF Base in Richmond, about 50km northwest of Sydney.

In an earlier statement, defence said the soldier was in a serious condition after the incident.

“First aid was rendered at the scene and the member was taken to hospital by NSW Ambulance,” the department said.

“Defence’s priority remains with the member, their family and unit at this time.”