The United States condemned 'dangerous' actions by Beijing in the South China Sea following a clash between the Chinese coast guard and the Philippine navy, as US Secretary of State Marco Rubio arrived in Manila on Tuesday to attend meetings of the Association of Southeast Asian Nations (ASEAN), according to Agence France-Presse.

US State Department spokesperson Tommy Beigut said in a statement that 'China's alarming pattern of provocation against the Philippines' legitimate maritime operations undermines regional peace and stability and directly contradicts China's repeated commitments to peacefully resolving disputes.'

The statement was issued as Rubio arrived in Manila this morning to attend the ASEAN foreign ministers' meetings.

While Rubio did not confirm his intention to meet with his Chinese counterpart Wang Yi, who will also be in Manila on Wednesday and Thursday, he indicated that he is open to the possibility of talks.

The two met last year on the sidelines of the ASEAN summit in Kuala Lumpur, and then again in Munich in February.

In an opinion piece published in Philippine media this morning, Rubio affirmed Washington's commitment to 'freedom of navigation in Southeast Asia,' while reiterating the US security umbrella in the region.

He wrote: 'If these waters come under the control of a power willing to use trade as a geopolitical weapon, the United States and ASEAN countries will face new and serious threats to their sovereignty, security, and economic future,' in a clear reference to China.

Beijing claims sovereignty over almost the entire South China Sea, a vital global trade route, despite an international court ruling that its claims have no legal basis.

The Philippine military had accused Chinese coast guard personnel of striking a Filipino sailor with a baton as they approached a grounded ship that has long served as a Philippine military outpost in the disputed waters.

The Chinese coast guard responded to the accusations in a statement, describing Manila's account of the incident as 'a complete distortion of the truth.'

Rubio is making his first visit to the Philippines as Secretary of State, where he intends to reaffirm the strengthening of the partnership with the country.

In remarks to the press before leaving Washington on Sunday, Rubio indicated that he would participate in a meeting with his partners in the Quad group (United States, Australia, Japan, India) on the sidelines of the ASEAN summit, as well as hold meetings with South Korea and possibly Vietnam.