Over the years there have been a number of close encounters between U.S. and Russian forces, often in the form of Russian aircraft buzzing U.S. Navy ships.
The Russian military accused the Chancellorsville of making a risky manoeuvre by crossing the path of the Russian destroyer Admiral Vinogradov. The incident prompted China's foreign ministry to accuse the US of violating its sovereignty.
The latest flareup with the Russians comes as the US and 18 North Atlantic Treaty Organisation allies and partner nations prepare for the annual BALTOPS major training exercises in the Baltic region.
Navy officials say the Russian warship came within 50 to 100 feet of the Chancellorsville, putting the ship and her crew at risk.
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Russian sailors are seen sunbathing on the deck of the destroyer as it narrowly avoids running into a U.S. Navy guided-missile cruiser in the footage.
"We'll have military-to-military conversations with the Russians, and of course we'll demarche them, but to me safety at the end of the day is the most important (part)", he told reporters outside the Pentagon.
"We consider Russia's actions during this interaction as unsafe and unprofessional", the US Navy said.
Worldwide maritime law requires ships to maintain a safe distance, normally interpreted as 1,000 yards, when passing another, Schuster added.
"This is just not the way safe global maritime operations are supposed to be conducted by anybody", said the CNN correspondent. The Russian Pacific Fleet, meanwhile, blamed the USA for the close encounter.
The USS Cowpens, CG 63, a Ticonderoga-class guided-missile cruiser docks at Manila's pier, in the Philippines as it arrives for a routine port call on March 9, 2014.
Meanwhile, Russia and the US are blaming each other for a near collision of their warships.