In Ukraine, where armed forces were on full combat alert, President Petro Poroshenko sought parliament's approval to impose martial law from Wednesday to strengthen national defences against possible "invasion" by Russian Federation.
Ukraine's Parliament approved martial law for a period of 30 days in regions most vulnerable to a potential Russian attack.
Poroshenko described the incident as open Russian aggression and said he planned to ask parliament to approve the imposition of martial law.
Dmitry Polyansky, the Russian Deputy Representative to the United Nations, accused Ukraine of concocting a Russian threat in the Sea of Azov with Western support.
She said her statement reflected "the concerns at the highest level" of United States leadership, adding that "outlaw actions like this one" would make it impossible for the USA to normalize relations with Russian Federation.
The Ukrainian navy said a Russian border guard vessel had rammed the tug boat, damaging it in an incident it said showed Russia was behaving aggressively and illegally.
According to the Ukrainian government, Russian forces opened fire on the Ukrainian Navy vessels. The two artillery ships were damaged and six sailors were injured, according to Ukraine's navy, with the vessels and personnel still detained by Russian Federation.
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The injured sailors are receiving medical treatment and their lives are not in danger, the FSB said.
A senior fellow at the pro-NATO Atlantic Council has said the USA should send naval ships into the Sea of Azov to guarantee it stays open after a skirmish between Russian and Ukrainian ships.
Poroshenko also said Ukraine would stick to the Minsk Agreements, peace deals his government inked with Russia and pro-Russian separatists in southeastern Ukraine that were created to stop a war that claimed more than 10,000 lives since 2014.
A Reuters witness in Kerch, a port in Crimea, said the three Ukrainian vessels were being held there on Monday.
Separately, the International Monetary Fund said introducing martial law would have no bearing on continued IMF cooperation with Ukraine. While a 2003 treaty designates the Kerch Strait and Sea of Azov as shared territorial waters, Russian Federation has sought to assert greater control over the passage since the annexation of Crimea. The seized ships were brought to Kerch, where the wounded men received medical attention.
On Sunday, Russia dispatched warplanes to patrol the area after the Ukrainian navy tried to send the ships through the Kerch Strait, a waterway with strategic significance for both countries that passes under a newly built Russian bridge.
The incident took place on Sunday as three Ukrainian naval ships were transiting from Odessa on the Black Sea to Mariupol in the Sea of Azov, via the Kerch Strait. "At the time of the mission, we had small arms and large-calibre machine guns with ammunition on board", Lesovoy says in the video without specifying the name of the ship he was on.