Beijing has urged Manila to immediately stop infringements and provocations, and avoid challenging China's firm resolve to safeguard its territorial sovereignty and maritime rights and interests, the Foreign Ministry said on Thursday.

Lin Jian, a spokesman for the ministry, blasted the Philippines' criticism of a "high-risk" maneuvre by a Chinese vessel near Huangyan Island in an incident involving warships from the two navies.

Relevant remarks ignore the facts and distort right and wrong, Lin said at a regular news briefing.

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China took necessary measures to deal with the Philippine military vessel's attempt to intrude into China's territorial waters near Huangyan Island, which is China's inherent territory, Lin said.

The measures are "justified, lawful, professional and restraint", Lin said, stressing that Manila's frequent infringement of rights and provocations at the sea are the root cause of tensions.

Also on Thursday, the People's Liberation Army effectively thwarted a Philippine military vessel which attempted to intrude into China's territorial waters near Huangyan Island in the South China Sea on Monday, a spokesman said.

In a statement, Tian Junli, spokesman for the PLA's Southern Theater Command, said that the Philippine No 35 patrol boat attempted to intrude on Monday, noting that the theater command deployed naval and air forces to track and monitor the vessel and warned it off in accordance with the law and regulations.

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The PLA's actions "forcefully and effectively" prevented the vessel from intruding into China's territorial waters, he said, stressing that the on-site operations were professional, standardized, legitimate, and lawful.

The spokesman also criticized the Philippine side, saying its remarks disregarded facts, confused the public and attempted to mislead international perception.

Huangyan Island is China's inherent territory, he highlighted. "We sternly warn the Philippine side to immediately cease its infringing provocations and misleading rhetoric".

The theater command forces remain on high alert at all times, resolutely defending national sovereignty, security, and maritime rights, and firmly maintaining peace and stability in the South China Sea region, said Tian.