The defence ministry in Canberra said it has raised concerns with Beijing after the incident, which both governments said took place Wednesday over open sea between China and the Korean peninsula.

Australia's ministry said the frigate HMAS Toowoomba had been conducting "routine activities" when its helicopter was intercepted by a Chinese aircraft that conducted an "unsafe" manoeuvre.

"The PLA-N helicopter matched the ADF helicopter's altitude before closing in to an unsafe distance," it said, referring to China's People's Liberation Army-Navy.

"The Chinese helicopter moved slightly ahead, increased speed and then rolled towards the ADF helicopter," the defence ministry said. The aircraft then took "evasive action to maintain safe flight".

"Australia expects all countries, including China, to operate their militaries in a safe and professional manner," it said.

China's military rejected Canberra's description of events as a "complete distortion of facts", and accused the HMAS Toowoomba of recently conducting close reconnaissance "under the pretext" of implementing UN Security Council resolutions.

The vessel has "repeatedly deployed its shipborne helicopters for close-in reconnaissance and persistent provocations against China in the Yellow Sea and East China Sea, endangering China's national security", defense ministry spokesperson Jiang Bin said in a statement.

China was acting in response to Australian "infringements", the spokesperson said. "The operation was legitimate, reasonable", and in accordance with international law.

Beijing went on to warn Canberra it would "take countermeasures" against any actions that endanger China's security.

"We urge the Australian side to earnestly respect China's sovereignty and security concerns, immediately stop disseminating disinformation (and) refrain from any risky and provocative acts" that would undermine regional stability, the spokesperson said.