China’s military says it tracked and warned away a US warship that had illegally entered waters it claims in the South China Sea.

The US Navy denied China’s claims, stating that the ship was on a routine operation and left the area of its own accord.

In a statement on Thursday, the Southern Theatre Command of the Chinese People’s Liberation Army (PLA) said the USS Milius, a guided missile destroyer, intruded into waters around the disputed Paracel Islands.

The PLA “organised sea and air forces to track and monitor [the ship] in accordance with the law” and “warned it to leave”, spokesperson for the Southern Theatre Command Tian Junli said.