Four Chinese vessels entered the waters surrounding islets, called the Senkaku in Japan and the Diaoyu in China, around 10.00 AM local time, according to Japan Coast Guard.
They left the territorial waters within an hour, the coast guard said.
The two countries are locked in a long-running dispute over the uninhabited islets.
Tokyo has lodged at least 32 protests through diplomatic channels since August 5 over what it says have been about 30 intrusions by Chinese vessels in the territorial waters.
"Despite Japan's repeated strong protests, the Chinese side has continued to take unilateral actions that raise tensions on the ground, and that is absolutely unacceptable," the statement added.
China is also involved in maritime disputes in the South China Sea with countries including the Philippines, but a UN-backed tribunal has ruled that Beijing's claims were invalid.
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