<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019f0f4e-c2da-7fb7-ad3d-ed2c9a734d19,g:4ef947b9-414d-4967-bf61-f69498ab94fa-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:rmd="http://www.resmed.com/20261001" attributeFormDefault="unqualified" elementFormDefault="qualified" targetNamespace="http://www.resmed.com/20261001">
  <xs:import namespace="http://www.xbrl.org/2003/linkbase" schemaLocation="http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/dei-sub/2026" schemaLocation="https://xbrl.sec.gov/dei/2026/dei-sub-2026.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/ecd-sub/2026" schemaLocation="https://xbrl.sec.gov/ecd/2026/ecd-sub-2026.xsd"/>
  <xs:annotation>
    <xs:appinfo/>
  </xs:annotation>
</xs:schema>