"The United States and Canada colluded to provoke and stir up trouble, seriously jeopardising peace and stability of the Taiwan Strait," the Chinese military said.
Taiwan defence ministry’s warning comes a week after China mounted four consecutive days of record air force incursions into the Taiwanese air defence zone.
The statement from Taiwan's defence minister comes after Taipei reported close to 150 Chinese air force aircraft entered its air defence zone over a four-day period beginning last Friday.
The US Air Force simulated a war game against China last autumn, and the results were unsettling for Washington.
The border spat could accelerate existing trends of geopolitical and economic divergence between Beijing and New Delhi, with far-reaching consequences for the region too.
Meanwhile, Beijing slams a new US defence act, which includes measures to strengthen Washington's ties with Taiwan and support for Hong Kong's anti-government protestors, saying it "blatantly interfered" in China's internal affairs.
"China can and should have a cooperative relationship with the rest of the region," US Acting Defence Secretary Patrick Shanahan said at the Shangri-La Dialogue in Singapore.
Taiwan's defence ministry said in a statement late that the voyage of the US vessels was in accordance with regulations. The move will likely be viewed in Taiwan as a sign of support from US President Donald Trump's government.
Chinese President Xi Jinping seeks "reunification" of self-ruled island nation with China, in a speech on anniversary of Taiwan policy change, a day after Taipei asked Beijing to respect its sovereignty.
The third typhoon to strike Taiwan this month has killed at least four people and injured hundreds of others.
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