Three Russian submarines conducted a "covert" operation over cables and pipelines in waters north of the UK, Defence Secretary John Healey said.
A British warship and aircraft were deployed to deter the "malign" activity by Moscow and there was "no evidence" of any damage to UK infrastructure in the Atlantic, he added.
Addressing Russian President Vladimir Putin directly, Healey said: "We see you. We see your activity over our cables and our pipelines, and you should know that any attempt to damage them will not be tolerated and will have serious consequences."
The Russian embassy in London has denied Healey's claims, according to Moscow's state news agency Tass.
The UK is dependent on its undersea cables and pipelines for its data and energy.
