This US Navy file photo released on Oct 5, 2017 shows the Arleigh Burke-class guided missile destroyer USS John S. McCain as it is towed away from the pier at Changi Naval Base, to meet heavy lift transport vessel MV Treasure. (JOSHUA FULTON / US NAVY / AFP)

MOSCOW - A Russian warship caught the US Navy guided-missile destroyer USS John S. McCain operating illegally in Russia’s territorial waters in the Sea of Japan, but chased it off, Russia’s defense ministry said on Tuesday.

Such incidents are rare, but underscore poor diplomatic and military relations between Russia and the United States whose ties are languishing at a post-Cold war low

Moscow said that the Admiral Vinogradov, a Russian destroyer, had verbally warned the US ship and threatened to ram it in order to force it to leave the area.

ALSO READ: Russia hopes to resolve differences with US on New START extension

The US ship had immediately returned to neutral waters after being warned off, the defense ministry said in a statement.

Such incidents are rare, but underscore poor diplomatic and military relations between Russia and the United States whose ties are languishing at a post-Cold war low.

The Russian ship, from the Pacific Fleet, had been tracking the American destroyer, which Moscow said had violated Russia’s territorial waters at 0317 GMT by going two kilometers beyond the sea border.

READ MORE: US, Russia closer to arms control pact extension; hurdles remain

The incident took place in the Peter the Great Gulf, it said.

The US destroyer made no further attempts to enter Russian waters after leaving the area, said Moscow. But it said the Admiral Vinogradov was continuing to observe its movements and that another vessel, a corvette, had been dispatched to the area.