Environment Secretary George Eustice disputed claims from Moscow that Russian warplanes dropped bombs and a patrol boat fired warning shots at a British destroyer it claims entered into its territorial waters in the Black Sea.
"This is a very normal thing," Eustice told Sky News. "It's quite common, actually, what was actually going on is the Russians were doing a gunnery exercise and given prior notice of that, they often do in that area. So I think it's important that we don't get carried away."
Russia said HMS Defender went three kilometers inside its territory off Cape Fiolent in Crimea, just before noon on Wednesday. A nation's territorial waters extend 12 nautical miles from its coastline; any foreign warship going past that limit would need permission of the country to do so, with a few exceptions.
Russia annexed Crimea from Ukraine after a military intervention in the region in 2014. The international community opposed that annexation, and still considers Crimea as Ukrainian territory.
Eustice insisted the vessel was making a legal passage under international law to Georgia via Ukraine. Asked if the UK would sail through disputed Ukrainian waters again, he replied: "Yes ... because we never accepted the annexation of Crimea."
On Thursday, Kremlin officials accused the UK of a "deliberate, planned provocation" and said it had the right to "bomb on target" when foreign ships violate its sea borders.
Kremlin spokesman Dmitry Peskov said on a conference call with journalists that Russia is "obviously concerned about such actions of the British ship."
"What can we do? We can appeal to common sense, demand respect for international law. If this does not help, we can bomb not only in the direction, but also on target, if our colleagues do not understand," Russian Deputy Foreign Minister Sergey Ryabkov said, according to Russian state media TASS.
On Thursday, British Foreign Secretary Dominic Raab described Moscow's version of Wednesday's incident as "predictably inaccurate," saying "no shots were fired at HMS Defender."
A BBC reporter on the ship said he witnessed Russian warplanes and naval vessels buzzing the destroyer during the flare-up on Wednesday.
Shortly after the British ship crossed the territorial boundary, an Su-24M attack jet dropped bombs and a coastal patrol ship fired warning shots in front of the British destroyer, the Russian Defense Ministry said in a report.
The UK Defense Ministry had previously denied Moscow's accusation, saying that its ship was making a legal and innocent passage.
The UK ambassador to Moscow was due to visit the Russian Foreign Ministry Thursday after being summoned over the incident, spokeswoman Maria Zakharova said on state TV. On Wednesday, Zakharova accused the UK of spreading lies about the incident.
"So, who's lying: the British Defense Ministry, the British BBC reporter or the British Embassy in Moscow? There is an answer. This time -- the British Defense Ministry and the British Embassy ... London has lost its manners. I advise the British partners to knock if they want to 'peacefully enter' next time," Zakharova wrote on Telegram.