A ministry statement said the sides discussed issues relating to the Dec 5 incident through normal channels and "carried out effective communication."
"Relations between the Chinese and US militaries enjoy excellent prospects for development and both sides are willing to boost communication, coordinate closely, and work to maintain regional peace and stability," the statement said.
In its first official comment on the incident, the ministry offered few details other than to say the Chinese amphibious ship involved had been on regular patrol and "appropriately handled the matter in strict accordance with operational procedures."
However, a newspaper published by the ruling Communist Party on Monday accused the US ship of crowding Chinese ships accompanying the country's first aircraft carrier on sea trials.
The Global Times said the Cowpens came within 45 kilometers of the Chinese squadron, inside what it called its "inner defense layer."
The incident came amid heightened tensions over China's expanding navy and growing assertiveness in the region, where it claims vast areas of heavily trafficked waters and numerous island groups.
During visits this week, US Secretary of State John Kerry said Washington would provide more than USD 70 million in security assistance to Vietnam and the Philippines countries locked in competing claims with China over territory in the South China Sea.
The Dec. 5 confrontation was the most serious incident between the two navies since 2009, when Chinese ships and planes repeatedly harassed the US ocean surveillance vessel USNS Impeccable in the South China Sea.
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