South Australian Native Title Services has criticised the South Australian government's timing in introducing its First Nations Voice bill to parliament, suggesting the government has "filtered" the views of First Nations people expressed through public consultation.

Facilitated by Commissioner for First Nations Voice Dale Agius, the second of two rounds of consultations concluded on January 6, with the government introducing its First Nations Voice Bill 2023 in state parliament on Thursday this week.

There was much cheering and applause from the public gallery following the introduction of the bill to parliament by South Australian Minister for Aboriginal Affairs Kyam Maher, with numerous South Australian Aboriginal community leaders and Karuna Elders in attendance, many giving a standing ovation at the end of Mr Maher's speech.

However, in response to the introduction of the bill South Australian Native Title Services (SANTS) chief executive Keith Thomas conveyed his disappointment and frustration at the government's process.

"On what is a historic occasion, our First Nations leaders should be standing as one with the government and praising each other in reaching an agreement to create a Voice to Parliament," Mr Thomas said.

"Instead, we have a government filtering the views of Aboriginal people expressed during consultations to put forward what it thinks is best.

"The final details of the Voice have been self-determined by government."

Mr Thomas' criticism follows an open letter to the government dated 5 January 5 signed by more than two dozen chairpersons and leaders of South Australian Native Title Groups and First Nations.

The letter supported many aspects of the proposed model for a First Nations voice in South Australia, including regional representation through a Local Voice, a direct connection to both parliament and state cabinet, and the establishment of a relationship to state government through departmental chief executives.

However, the letter also criticised a proposal which they say failed to respond to concerns raised regarding the recognition of the representative position of Native Title groups as First Nations bodies, the utilisation of Native Title and statutory land rights bodies, and establishing regions for the Local Voice based on Native Title and statutory land rights boundaries.

"The government has failed to sit around the table with First Nations leadership to thoroughly discuss the model; to talk about differences and reach a mutually agreeable position," Mr Thomas said.

"The Bill gives no recognition or respect to the leadership, cultural authority, cultural protocols, laws and customs of First Nations as individual First Nation groups.

"We remain completely supportive of a Voice being established, but completely against the current model introduced today."

In introducing the bill to parliament, Mr Maher said adjustments had been made to the bill in response to "concerns raised about the interaction of the Voice with other bodies and agreements already in existence".

The bill is expected to pass parliament within months with the support from The Greens in South Australia's Legislative Council.