Royal Navy frigate HMS Richmond sailed through the Taiwan Strait on Friday

The vessels followed in the wake of China’s latest aircraft carrier and Australian and Canadian ships.

HMS Richmond and the USS Higgins passed between Taiwan and mainland China on Friday, prompting fury in Beijing.

Royal Navy frigate HMS Richmond sailed through the Taiwan Strait on Friday

The pair were engaged in 'trouble-making and provocation', according to Beijing's People's Liberation Army's (PLA) Eastern Theatre Command.