The Russian defence ministry said the crew of a Russian anti-submarine vessel, the Admiral Tributs, had radioed a warning to the USS Chafee that it was "in an area closed to navigation due to exercises with artillery fire".
Russia said one of its military vessels chased away a U.S. naval destroyer that attempted to violate Russian territorial waters during Russian-Chinese naval drills in the Sea of Japan on Friday.
There was no immediate comment from the U.S. side.
The Russian defence ministry said the crew of a Russian anti-submarine vessel, the Admiral Tributs, had radioed a warning to the USS Chafee that it was “in an area closed to navigation due to exercises with artillery fire”.
The U.S. destroyer failed to change course and instead raised flags indicating it was preparing to launch a helicopter from its deck, meaning it was unable to change course and speed, the Russian ministry said in a statement.
“Acting within the framework of the international rules of navigation, the Admiral Tributs set a course for ousting the intruder from Russian territorial waters,” it said.
The Chafee eventually changed course when the two vessels were less than 60 metres apart, it said.
It said the incident lasted about 50 minutes and took place in Peter the Great Bay, which lies south of Vladivostok in the west of the Sea of Japan.
It was the second time in four months Russia has said it chased a NATO-member warship from its waters. In June, Russia accused a British destroyer, the Defender, of breaching its territorial waters in the Black Sea, and said it had forced the ship away with warning shots and dropped bombs in its path.
Britain rejected Moscow’s account of the incident, which took place off Crimea, part of Ukraine which Russia annexed in 2014 in a move not recognised internationally. London said at the time its ship was operating lawfully in Ukrainian waters.
Earlier on Friday, Russia said it had held joint naval drills with China in the Sea of Japan and practised how to operate together and destroy floating enemy mines with artillery fire.
Relations between Russia and the United States are at post-Cold War lows, although President Vladimir Putin said this week he had established a solid relationship with his U.S. counterpart Joe Biden and saw potential for ties to improve.