WASHINGTON—The Senate Armed Services Committee approved a major change in U.S. policy toward Taiwan as part of an annual defense-policy measure, voting to allow regular stops by U.S. naval vessels in a move that is likely to anger China.

In a bipartisan 21-6 vote, the panel approved re-establishing “regular ports of call by the U.S. Navy at Kaohsiung or any other suitable ports in Taiwan and permits U.S. Pacific Command to receive ports of call by Taiwan.”

If...