Beijing claims the South China Sea in nearly its entirety despite a 2016 international ruling rejecting its assertion, fuelling tensions with its regional neighbours.

The Netherlands insisted that its frigate had been in international waters.

The Dutch navy frigate De Ruyter "repeatedly launched its shipborne helicopter" to "violate China's airspace", the Chinese military's Southern Theater Command said in a statement.

Chinese forces took measures such as verbal warnings and "electronic jamming" to force the vessel away, it added.

"The Dutch side's actions seriously violated China's territorial sovereignty and maritime and air security, seriously breached international law and the basic norms of international relations," the statement said.

China "firmly opposes" the acts and has warned the Dutch side to immediately stop its "provocative" actions, it added.

The Dutch defence ministry denied that the ship had been in territorial waters.

The ship "is sailing on, in waters where free movement is allowed," a defence ministry spokeswoman told AFP.

"The ship continues its planned route and is operating on the basis of international law," she added.

The United States, India, Japan and Australia jointly voiced concern on Tuesday over the South and East China Seas, warning against any assertive moves.

Without referring to China by name, the nations' foreign ministers criticised "dangerous manoeuvres by military aircraft" and "ramming and blocking actions in the South China Sea".