A South Korean naval vessel fired warning shots after a DPRK patrol boat crossed the countries’ disputed maritime border, Seoul’s Defense Ministry reported.

The boat crossed the Northern Limit Line on Saturday morning near South Korea's Baekryeong Island, the Joint Chiefs of Staff said in a statement.

"Our Navy's high-speed boat sent warning messages and conducted warning shots and immediately warded it off," it said.

"Our military is prepared against various provocations and keeping a decisive combat posture while closely monitoring the enemy's movements," the statement added.

In recent weeks, relations between South Korea and DPRK have been at one of their lowest points in years as Washington and Seoul continue their provocations represented by a myriad of factors, including joint military drills in the region. 

Last month, Seoul and Washington both concluded their regular springtime exercises, called Freedom Shield 23, but are now conducting amphibious landing drills. During the same period, both the US and South Korean militaries conducted their biggest field exercises in five years, as well as computer simulations for command post-training.

The US also sent its nuclear-powered USS Nimitz aircraft carrier for naval training last week with South Korea. 

The US, South Korean, and Japanese navies held their first anti-submarine drills in six months to allegedly strengthen their coordination against what they call an increasing missile threat from DPRK.

Developments rise as Washington and Seoul expand their combined military drills in response to what they call the DPRK's nuclear and missile threats. As a permanent military presence in South Korea, the US has 28,500 troops scattered around the country. 

That said, DPRK leader, Kim Jong Un has recently called on his military to get ready for war.