Legislation targeting offensive advertising and slogans on vehicles, such as those used by Wicked Campers, will be introduced into Queensland's Parliament on Tuesday.
Ms Palaszczuk said Queenslanders were "up for good humour and tongue-in-check advertising".
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Wicked vans 'degrading to women'
The RACQ urges the Queensland government to act over "offensive" mobile billboards on Wicked camper vans. Nine News: May 17, 2016
"But there is no place in Queensland for sexist, misogynistic rubbish on full display," she said.
Ms Palaszczuk told the house the slogans could be seen by children.
"And that's not something I'm going to cop," she said.
"I'm sure most members of the house have, at some stage or another, encountered a vehicle on the road that was displaying a sexist, discriminatory or just downright obscene message or cartoon on the side of it."
The legislation would mean advertisers would be required to remove offensive slogans and cartoons or risk having their vehicles de-registered.
Once the vehicles were de-registered, the vehicles would not be allowed to be used on the roads until the offensive advertising was removed.
Ms Palaszczuk said the changes would provide an enforcement mechanism for the already well-established processes used by the Advertising Standards Bureau (ASB).
The ASB has a regulatory role and makes determinations about whether ads are offensive or not, following complaints.
But it has no enforcement mechanism, so advertisers who chose to ignore the determinations could continue to display offensive ads, Ms Palaszczuk said.
If an advertiser chose to ignore a determination made by the ASB, the Department of Transport and Main Roads wouldbe able to start the de-registration process under the new laws.
Advertisers will be given notice of any proposed de-registration and time to remove the offending ad.
Ms Palaszczuk said the goal of the changes was to remove offensive advertising from Queensland's roads, not to de-register vehicles.
RACQ spokesman Renee Smith said the club welcomed the changes.
"As advocates for more than 1.6 million Queenslanders we stood up and said enough is enough and we're pleased to see the results of our strong stand against sexist, misogynistic and vile billboards today," Ms Smith said.
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