A US Navy guided-missile destroyer has sailed close to China's man-made islands in the disputed South China Sea, drawing an angry rebuke from Beijing, which said its warships tracked and warned the American vessel.

The patrol by the USS Lassen was the most significant US challenge yet to the 12-nautical-mile territorial limits China asserts around the islands in the Spratly archipelago and could ratchet up tension in one of the world's busiest shipping lanes.

One US defence official said the USS Lassen sailed within 12 nautical miles of Subi Reef. A second defence official said the mission, which lasted a few hours, would be the first in a series of freedom-of-navigation exercises aimed at testing China's territorial claims.

A Chinese guided-missile destroyer and a naval patrol ship shadowed and gave warnings to the US warship "according to law", China's Defence Ministry said.

It added the military would take all necessary steps to protect the country's security.

The US patrol was a "coercive action that seeks to militarise the South China Sea region" and an "abuse" of freedom of navigation under international law, it added.

China's Vice Foreign Minister Zhang Yesui summoned US Ambassador Max Baucus over the incident, calling the US patrol "extremely irresponsible" .

The ministry earlier said the USS Lassen "illegally" entered waters near islands and reefs in the Spratlys without the Chinese government's permission.

Foreign Ministry spokesman Lu Kang said if the US continued to "create tensions in the region," China might conclude it had to "increase and strengthen the building up of our relevant abilities".

Mr Lu did not elaborate, except to say he hoped it did not come to that, but his comments suggested China could further boost its military presence in the South China Sea.

The second US defence official said additional patrols would follow in coming weeks and could be conducted around features that Vietnam and the Philippines have built up in the Spratlys.

"This is something that will be a regular occurrence, not a one-off event," said the official. "It's not something that's unique to China."

White House spokesman Josh Earnest referred questions on any specific operations to the Pentagon, but said the US had made clear to China the importance of free flow of commerce in the South China Sea.

The Philippines, a vocal critic of China's activities in the South China Sea, welcomed the US action.

"The American passage through these contentious waters is meant precisely to say that there are norms as to what freedom-of-navigation entails and they intend to exercise (these) so there is no de facto changing of the reality on the ground," President Benigno Aquino said.

The decision to go ahead with the patrol follows months of deliberation, and risks upsetting already strained ties with China.

"By using a guided-missile destroyer, rather than smaller vessels ... they are sending a strong message," said Ian Storey, a South China Sea expert at Singapore's Institute of South East Asian Studies. "They have also said, significantly, that there will be more patrols - so it really now is up to China how it will respond."

Some experts have said China would likely resist attempts to make such US actions routine. China's navy could for example try to block or attempt to surround US vessels, they said, risking an escalation.