US Secretary of State John Kerry has warned his country would have been within its rights to shoot down Russian warplanes during what it described as a simulated attack on a US destroyer in the Baltic Sea.

Key points: Kerry warns US will not be intimidated

Kerry warns US will not be intimidated Incident described as most aggressive interaction between Russia and US in some time

Incident described as most aggressive interaction between Russia and US in some time Russia says crews of jets followed safety rules

"We condemn this kind of behaviour. It is reckless. It is provocative. It is dangerous," Mr Kerry said in an interview with CNN Espanol and the Miami Herald.

"And under the rules of engagement that could have been a shoot-down.

"People need to understand that this is serious business and the United States is not going to be intimidated on the high seas.

"We are communicating to the Russians how dangerous this is and our hope is that this will never be repeated."

The repeated flights by the Sukhoi SU-24 bombers near the USS Donald Cook were so close they created wake in the water, a US official said on Wednesday.

It was one of the most aggressive interactions between the two former Cold War foes in recent memory, the official said, although the planes carried no visible weaponry.

A Russian KA-27 Helix helicopter also made passes around the vessel, taking pictures.

The nearest Russian territory was about 70 nautical miles away in its enclave of Kaliningrad, which sits between Lithuania and Poland.

Russia defends actions of fighter jets

In Moscow, the Interfax news agency quoted Russian Defence Ministry spokesman Igor Konashenkov as saying the crews of the Russian bombers that flew near the US destroyer respected all safety rules.

US State Department spokesman John Kirby said Mr Kerry would raise the incident with Russian Foreign Minister Sergei Lavrov.

White House spokesman Josh Earnest told reporters at a daily press briefing that Washington had raised its concerns with Russian officials.

"I can tell you that that communication has occurred, and we'll seek to resolve our differences through well-established military channels," he said.

Two Russian Sukhoi Su-24 attack aircraft fly over the USS Donald Cook in the Baltic Sea. ( AFP: US Navy handout )

Reuters