Shinzo Abe told parliament the move could have led to an "unpredictable situation" and called for Chinese "self-restraint".
The incident happened near disputed East China Sea islands last week.
The Chinese foreign ministry said it was not aware of the details, but said Japan should stop "illegal" activities.
"In recent days, Japan has on many occasions deployed aircraft and ships and illegally entered Chinese waters around the Diaoyu Islands," spokeswoman Hua Chunying said."
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