Yes. This is the case even if it is not your primary source of income. For example, if you earn wage/salary income as well as perform ride sharing services to supplement that income, you still have to report it in your tax return.
Where you offer ride sharing services in return for payment (e.g. through an app), you are generally considered to be carrying on a business as a sole trader (under a sole trader ABN) and will therefore be taxed on the income you earn in this way. As a result of this, you would need to report this income in your annual income tax return in a business income schedule.
As you are not considered an employee when you are a sole trader, you will not receive a group certificate (PAYG payment summary) from the ride sharing platform, and tax will not have been withheld on your behalf. The impact of this is that you may have a tax payable amount at the end of the year and the ATO may enter you into the PAYG instalment system going forward to prepay future income tax in instalments. You can find out more about PAYG instalments here.