Japan has relaxed decades-old restrictions on its arms exports, clearing the way for it to sell weapons to more than a dozen countries.

The announcement on Tuesday marks a milestone in Tokyo's shift away from the pacifism that has characterised its post-war defence policy. It also comes at a time of heightened tensions in the region.

Restrictions that limit arms exports to just five categories - rescue, transport, warning, surveillance and minesweeping - will be lifted.

This means Japan can now sell lethal weapons to the 17 countries with which it has defence agreements, including the US and the UK.

A ban on arms sales to countries involved in conflict will stay. But authorities say they will allow for exceptions "in special circumstances".