Government services minister Bill Shorten says Scott Morrison should be embarrassed by the robodebt royal commission but it is up to the former prime minister to decide if he should quit parliament. 

Mr Morrison is facing fresh calls for his resignation based on his role in the failed debt recovery scheme as uncovered by a royal commission into the government program. 

It found former coalition ministers, including Mr Morrison, dismissed or ignored concerns about the legality of the scheme. 

Mr Morrison has rejected suggestions of wrongdoing or that he misled cabinet.

Mr Shorten told ABC radio on Monday it was up to Mr Morrison to stay and “protest his innocence” if he wished.

“That’s up to him, but anyone who reads the royal commission is going to form a different view about Mr Morrison’s proposed timetable for staying in parliament,” he said.

Mr Shorten said any “self-respecting politician” would be “embarrassed, humiliated” by the assessments made in the final report.

“He must live in a separate world to the rest of us,” he added.

Opposition home affairs spokesman James Paterson said the Liberal party was not in a position to direct Mr Morrison to “say or do anything”. 

“What he decides to do with his future is a matter for him,” he told ABC radio. 

The senator said the Liberal party was taking the findings of the commission seriously and would support any sensible changes to prevent it from happening again.

The report into the scheme included a sealed section that recommended further investigation and action against several unnamed individuals.

Federal police and the national anti-corruption commission are considering the evidence.

Mr Shorten understands this undisclosed chapter will eventually be made public once investigations are complete.

By Poppy Johnston in Canberra