The poll has shown that the opposition Coalition led by Tony Abbott was maintaining its lead over the Labor Party government despite Rudd taking charge.
The Coalition leads 52 - 48 per cent after preferences and if the results are repeated Abbott would be able to form government with a comfortable majority of about 20 seats, the poll shows.
Voters were evenly split on the merits of the Labor leadership change with 44 per cent agreeing with the decision to replace Julia Gillard with Rudd, while 42 per cent disagreed.
Over 3,000 respondents took part on the latest poll which was conducted overnight, according to an AAP news agency report today.
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Labor cabinet minister Jason Clare commented that Rudd's comeback has spooked the Coalition, which thought it would have an easy win at this year's election.
"They know now that the fight is on and there's a real competition at the next election," he said.
Clare said he switched his vote from Gillard to Rudd as he believed Labor was heading for a massive defeat under her leadership.
"This makes us more competitive. I can tell that just from yesterday in the Parliament," he said.
Rudd also held his first press conference today after being sworn in yesterday.
Soon after taking oath as Prime Minister, Rudd assured his party members that he will not "lurch to the Left" on asylum-seekers.
On election date of September 14 which was set by Gillard, Rudd seems to be weighing up whether to go earlier or delay the poll to maximise his chances of rebuilding public confidence in the Labor government. The earliest date he can call an election for is August 3.
Rudd has indicated a series of dramatic policy changes after ousting bitter party rival Gillard in a leadership battle securing 57 votes in a caucus ballot, compared to 45 for Gillard, 51, Australia's first woman Prime Minister.