China hopes the good foundation for ties with the United States as laid down by President Xi Jinping's visit there in September does not "receive unnecessary interference", Wang said, Reuters reported early on Friday.
"The acts by the US naval vessel in the South China Sea harmed mutual trust and provoked regional tensions. China is extremely concerned by this," he added.
"The US side should return as soon as possible to the correct path of appropriately managing disputes via dialogue and consultation," he said.
Wang's comments to US Secretary of State John Kerry, reported by Chinese state television on Friday, come a week after a US guided-missile destroyer sailed close to one of Beijing's man-made islands in the South China Sea.
Beijing has repeatedly expressed its anger with Washington over the patrol.
US Secretary of Defense Ash Carter flew to a US aircraft carrier transiting the disputed South China Sea on Thursday and blamed China for rising tension in the region.