The latest reported confrontation between the two rivals comes a month after the United States struck the Islamic republic on June 22, hitting key Iranian nuclear sites during a 12-day war with Israel.

State TV said that an Iranian army helicopter flew over the USS Fitzgerald at about 10:00 am (0630 GMT) on Wednesday after the vessel "attempted to approach the waters under the supervision" of Iran.

The destroyer issued threats of its own, the broadcaster said, but "the Iranian pilot... reiterated the warning to stay away from Iranian waters", forcing the US vessel to "give in" and alter its course.

There was no immediate comment from the US Navy.

In a video released by Iranian state TV, a destroyer is seen from what seems to be a helicopter window as the pilot calls on the vessel to "change course" and avoid approaching Iranian territorial waters.

Iranian forces have a history of confronting US forces in bodies of water off the country's southern coast like the Gulf of Oman.

In 2023, Tehran said it forced a US submarine to surface while crossing the strategic Strait of Hormuz -- a claim Washington denied.