Queensland Police Service (QPS) has confirmed two men have been charged over the alleged assault of two teenage girls at Mount Sheridan in Cairns on September 22.

A QPS spokesperson said detectives from the Cairns Child Protection and Investigation Unit laid charges following investigations into the incident.

A 21-year-old Mount Sheridan man has been charged with one count of dangerous operation of a motor vehicle and two counts of assault occasioning bodily harm whilst armed and in company.

A 53-year-old Mount Sheridan man has been charged with one count of assault occasioning bodily harm.

Both men are scheduled to appear in Cairns Magistrates Court on October 10.

"Police take all offences against members of the community seriously and are committed to ensuring those involved are put before the courts," the spokesperson said.

The charges follow public concern after footage circulated showing a 14-year-old Torres Strait Islander girl being detained by police while men were seen standing nearby.

The girl was later taken to hospital with bruising and soreness and has since confirmed she is recovering.

One of the men linked to the incident was dismissed from his job after community backlash to social media posts about the assault.