Taiwan has condemned what it called a "reckless and provocative" move by Beijing after two Chinese fighter jets crossed a maritime border separating the two sides in the Taiwan Strait.

Key points: Taiwan says the Chinese fighter jets "seriously impacted regional safety and stability"

Taiwan says the Chinese fighter jets "seriously impacted regional safety and stability" It comes after Taiwan's President criticised China during a state visit to Pacific allies

It comes after Taiwan's President criticised China during a state visit to Pacific allies Beijing is yet to comment publicly on the latest source of tension with Taipei

The rare incursion — Taiwanese media reported the last one occurred in 2011 — on Sunday comes amid growing friction between Taipei and Beijing, including over their competing interests in the Pacific.

Taiwan swiftly mobilised its own aircraft to drive away the two Chinese planes, the self-ruled island's Defence Ministry said in a statement.

China's move had "seriously impacted regional safety and stability," the ministry said in a statement.

There has been no immediate reaction from Beijing, which views Taiwan as a renegade Chinese province and has never renounced the use of force to bring Taiwan under its control.

Taiwan warns Beijing against being a 'troublemaker'

Taiwan President Tsai Ing-wen has taken a tough stance on China. ( Supplied: Office of the President of Taiwan )

Alex Huang, a spokesman for Taiwan's presidential office, said in a statement that Beijing "should stop acting in ways that endanger regional peace and well-being, and not become an international troublemaker".

Taiwan's President, Tsai Ing-wen, had been briefed by the National Security Council and had directed the country's armed forces "take all necessary combat preparedness measures", he added.

The Ministry of Foreign Affairs said it had "informed regional partners" of the move.

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On Saturday, Ms Tsai wrapped up her "Oceans of Democracy" tour of the Pacific that highlighted the countries' shared liberal values and was designed to shore up her allies in the region.

After visiting Palau, Nauru and Marshall Islands — three of just 17 nations that recognise Taiwan's government — Ms Tsai urged Australia, the United States and Japan to push back against Beijing's growing Pacific influence.

China has been ramping up investment in its Pacific allies, but Ms Tsai accused Beijing of undermining "stability and good governance" in the region.

Beijing, for its part, has been working to isolate the island internationally, whittling down its few remaining diplomatic allies — thereby increasing the importance of the few that remain steadfast in their support of Taiwan.

China has repeatedly sent military aircraft and ships to circle Taiwan during drills in recent years, and recently released a video that included thinly veiled military threats against the island.

Meanwhile Taiwan is hoping to purchase more than 60 Lockheed Martin F-16 fighter jets from the US, a request that has received the Trump administration's tacit approval, according to a Bloomberg report.

The last time the US sold fighter jets to Taiwan was in 1992, when it delivered 150 of the same model aircraft.

Until now it has resisted further Taiwanese requests for military sales, cautious of China's growing strength and strong opposition to arms deals with Taiwan.

In recent months the US has also sent a number of Navy and Coast Guard ships through the Taiwan Strait, as part of an increase in the frequency of movement through the strategic waterway despite opposition from China.

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