Japan has criticised missile tests carried out by Russia’s navy around the disputed islands visited by Vladimir Putin last week amid continuing tensions between the two countries.

Russia’s Pacific fleet said on Thursday that it had fired Bastion surface-to-ship missiles from Etorofu, the largest island in the disputed archipelago, simulating an attack on enemy vessels, hitting all of its targets approximately 300km away.

Officials said the drills included a nuclear-powered submarine and a guided-missile cruiser, according to reports.

Putin sparked a tit-for-tat summoning of ambassadors in Tokyo and Moscow with his first visit last week to Etorofu, the largest of the group of four islands. They are referred to as the Northern Territories or Four Northern Islands in Japan, and as part of the Kuril Islands in Russia.

Toshimitsu Motegi, Japan’s foreign minister, said on Thursday during a trip to Oman: “We cannot tolerate moves to strengthen military power on the Four Northern Islands because they go against our country’s stance [on the territories].”

Territorial rows over the islands go back to the 19th century. The Soviet Union seized them from Japan at the end of the second world war.

Exercises by the Russian fleet began on 4 August and Japan was informed in advance that they would include live-fire drills. Japan lodged a protest against the large-scale manoeuvres on 5 August.

According to the Russian news agency Tass, the drills involved “approximately 60 surface ships, submarines, and support vessels, about 30 aircraft, helicopters, and unmanned aerial systems of the Pacific fleet’s naval aviation, as well as over 13,000 service members”.

Putin observed some of the exercises from the Varyag on 12 August as part of his trip to the disputed islands and to Sakhalin, the large undisputedly Russian island north of Hokkaido.

“The region is unfortunately becoming increasingly prone to conflict, with Nato seeking to gain a foothold here and the emergence of new military and political blocs,” said Putin, speaking aboard the flagship. “There are efforts and plans to deploy new weapons systems here, which creates threats for our country.”

The Russian drills are scheduled to continue through 29 August.