Chinese forces followed and warned away a US warship which entered waters near the Paracel Islands in the South China Sea, the country's military said on Thursday, in the latest uptick in tensions in the disputed waterway.

The Southern Theatre Command of the People's Liberation Army said the USS Benfold "illegally" sailed into Chinese territorial waters without permission, violating the country's sovereignty, and that Chinese naval and air forces tracked the ship.

"We solemnly demand that...