Shamus Touhy, 22, and Matthew Piscopo, 19, broke out of Malmsbury Youth Justice Centre on Saturday evening.

Piscopo was arrested at a Ballarat home on Monday morning and Touhy at a motel in Corio, more than an hour's drive from the prison, about 8.30pm.

Touhy was taken into custody by Fugitive Squad members without incident and faced Geelong Magistrates Court on Tuesday charged with escaping lawful custody.

He's also facing charges including criminal damage, stealing a motor vehicle, and theft.

He was remanded in custody to face court again later this month, with his lawyer James Gilfillan requesting he be seen by a nurse, given he takes medication for post-traumatic stress disorder and depression.

Touhy was remanded in adult custody after it was considered inappropriate for him to return to youth detention.

The 22-year-old also reported sustaining physical injuries during his arrest, Mr Gilfillan said.

The Malmsbury facility has a chequered past, with 20 prisoners escaping in 2017 after assaulting a guard and stealing his keys, and inmates locked in their cells in 2019 after workers were attacked with a cricket bat.

Australian Associated Press