The US regularly dispatches military vessels to the region, which is experiencing territorial disputes between China and neighbouring countries.
The Chinese military's Southern Theatre Command issued a statement on Thursday, saying that the USS Curtis Wilbur entered the country's territorial waters near the Paracel Islands without permission.
Beijing stressed that its ships and planes followed the Arleigh Burke-class guided-missile destroyer, adding that the actions of the American ship violated Chinese sovereignty and undermined regional peace and stability.
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