The Taiwan Strait separates Taiwan from mainland China, with Beijing asserting its jurisdiction over the surrounding waters. Recently, two US vessels also traversed the waterway.
China's military stated on Monday that a Canadian warship passing through the Taiwan Strait "undermines peace."
A statement from a Chinese military spokesperson said Canada's actions "deliberately create disturbances and pose a threat to peace and stability across the Taiwan Strait."
Beijing deployed its air and naval forces in the area and is prepared to "firmly counter all threats and provocations," according to the statement.
Canada made no immediate comment. The ship had sailed through the Taiwan Strait on Sunday.
Taiwan's defense ministry stated "Canada has once again taken concrete actions to defend the freedom, peace and openness of the Taiwan Strait and has demonstrated its firm stance that the Taiwan Strait is international waters."
Taiwan Strait: a focal point of geopolitical tensions in Asia
Just a few days after two US ships had completed the journey, Taiwan's foreign ministry stated that.
A spokesperson said it sent the "wrong signal and increased security risks." These were the first vessels to pass the strait since Donald Trump took office as the US president in January.
The United States and its allies such as Canada, Britain, and France consider the Taiwan Strait an international waterway and frequently use it for transportation purposes.
The self-governing island of Taiwan is considered by China to be part of its own territory. The Taiwan Strait is the body of water separating Taiwan from the mainland of China, and Beijing asserts its authority over the waterway.
A few days following China's military exercises around the island the previous year, a US and a Canadian warship had sailed jointly through the strait.
Taiwan's defense ministry also stated on Monday that it had detected 41 Chinese aircraft and nine warships near its territory over the previous 24 hours.
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