The tiny HMS Scimitar intercepted the much larger Infanta Elena just off the coast of The Rock this morning.
And despite being dwafed by the Spanish vessel, the British patrol boat chased the Infanta Elena away from the disputed British territory.
This is not the first time Spanish ships have encroached on Gibraltar’s territorial waters.
In September a Spanish Guardia Civil boat was challenged by HMS Scimitar before it left British waters and went into the Strait.
And earlier in the month a Spanish patrol boat, Rio Belelle, cut across US Navy transport vessel USNS Carson City as it entered Gibraltar.
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Michael J Sanchez, Naval commentator for British Gibraltar OSINT Founder of OpWest and Gibraltar Coast Watchers said it was a “very irresponsible and reckless move by the Spanish vessel”.
He said: “Nothing better to ruffle Spain’s feathers than a visit of a US Navy ship to Gibraltar.”
And in August Royal Navy warships were involved in a stand-off between a Spanish police boat and a trawler.
The Spanish trawler was fishing illegally in UK waters for three days in a row which led to several British vessels chasing off both Spanish boats after a warning.
Tensions have been mounting over the future of the 304-year-old British territory since Article 50 was triggered.
Prime Minister Theresa May also fuelled concerns by refusing to rule out talks with Madrid over Gibraltar’s future once we exit the bloc in 2019.
Last month Spanish foreign minister Alfonso Dastis said Spain would no block any Brexit agreements in a ploy to claim sovereignty over Gibraltar.
He said Spain would not “jeopardise” any deals by making demands to change the status of the British overseas territory.
In a 2002 referendum, citizens of Gibraltar rejected a proposal for joint British-Spanish sovereignty by by 98 per cent.
The Gibraltar government claims Spanish warships regularly trespass in its waters.