“The ship transited through a corridor in the strait that is beyond the territorial sea of any coastal state [and] demonstrates the United States’ commitment to upholding freedom of navigation for all nations as a principle,” it said.

“No member of the international community should be intimidated or coerced into giving up their rights and freedoms. The United States military flies, sails, and operates anywhere international law allows.”

The Taiwanese defence ministry said on Thursday morning that its forces monitored the situation as the US ship sailed south through the strait and observed nothing unusual.

The ministry also said Taipei had detected four mainland Chinese aircraft crossing the median line – a notional midpoint in the strait that separates Taiwan from the mainland – within the previous 24 hours.

The aircraft flew near Taiwan’s Penghu Islands, which are home to a major Taiwanese airbase, according to the ministry.

Cross-strait tensions have soared since Taiwan’s independence-leaning Democratic Progressive Party (DPP) came to power in 2016, angering Beijing which regards the island as part of its territory, to eventually be brought under mainland control.

Most countries, including the US, do not recognise the island as an independent state, but Washington is opposed to any unilateral change to the status quo and is committed to arming Taipei.

The DPP was elected for an unprecedented third presidential term in January, with the inauguration of William Lai Ching-te, the current vice-president, taking place on May 20. Beijing has denounced Lai as a “troublemaker” and an “obstinate separatist”.

In April, Lai said he hoped “the ruling parties on both sides of the Taiwan Strait will responsibly start healthy dialogues” to engage in exchanges and cooperation with Beijing “on the premise of reciprocity and dignity”.

He called on Beijing to “have confidence” in facing “the elected legitimate government entrusted by the people of Taiwan”.