"Chinese troops stationed on the islands, naval ships and airplanes made an immediate response, took countermeasures and conducted identification and verification (action) against the US warship,"Yang said.

The US action was "a serious violation of law"and damaged the peace and security of the South China Sea, Yang said.

Foreign Ministry spokeswoman Hua Chunying said on Saturday that under a Chinese law enacted in 1992, foreign warships entering China's territorial waters must obtain approval from the Chinese government.

The Chinese military will take all necessary measures to firmly safeguard national sovereignty and security regardless of provocative actions by the US, Yang said.

Harry Harris, commander of the US Pacific Command, drew criticism from Beijing on Wednesday when he told a think tank in Washington that the US will continue to challenge China's position on the South China Sea. Harris also said that in his opinion "those islands do not belong to China”.