Russia, represented by Economic Development Minister Maxim Reshetnikov, accused the European Union of hypocrisy, saying its actions against the country's merchant fleet amounted to piracy.
Moscow also claimed that Ukraine had been the first to start aggressive action in the Black Sea, targeting civilian ships.
Domański "firmly retorted," according to the Polish delegation, telling Reshetnikov he had got his facts wrong.
Russia was the brutal aggressor, he said, and Ukraine the victim.
On the sidelines of the meeting, two photographs of participants were taken, one with the Russian representative and one without.
The Office of the US Trade Representative (USTR) posted the version without him on its X account.
Domański appears in the picture.
On Wednesday, the Polish finance minister took part in a session on unfair practices in agricultural trade.
He told the state news agency PAP that Poland had taken a "very firm position," condemning what he described as Russian actions in the Black Sea that disrupt Ukrainian grain exports.
He said this was not only a blow to Ukraine's economy but it also reduced the availability of food on world markets.
He added that participants in Milwaukee had reached broad agreement to condemn actions targeting food trade.
At a news conference on Wednesday, Domański said he would not hold talks with Russian representatives, as at previous G20 meetings.
"Poland is invited to take part in the G20's work by the American presidency. But the fact of Russia's presence here does not change our position in any way."
The meeting in Milwaukee was a gathering of G20 trade ministers hosted by the US, which holds the group's presidency this year.
(ał)
Source: PAP