Wallabies have the potential to hurt humans. As far as my research has shown me, no one to date has been seriously injured by a wallaby. I say they have the potential to harm humans because they are related to kangaroos, although they are smaller. Kangaroos have been known to seriously hurt people with their kick and their claws. Even their tails can be dangerous.
This said, if wallabies have seriously injured someone, it’s been a long while since it’s made the news. This is where caution and common sense come into play. If you leave the wallabies alone and don’t give them a reason to get angry or nervous, they won’t hurt you. One good rule of them in Australia: admire the animals from a distance.