Taiwan scrambled jets and navy ships on Wednesday as a group of Chinese warships, led by its sole aircraft carrier, sailed through the Taiwan Strait, the latest sign of heightened tension between Beijing and the self-ruled island.

China's Soviet-built Liaoning aircraft carrier, returning from exercises in the South China Sea, was not encroaching in Taiwan's territorial waters but entered its air defense identification zone in the southwest, Taiwan's defense ministry said.

As a result, Taiwan scrambled jets and navy ships to "surveil and control" the passage of the Chinese ships north through the body of water separating Taiwan and China, Taiwan defense ministry spokesman Chen Chung-chi said.

Taiwan military aircraft and ships have been deployed to follow the carrier group, which is sailing up the west side of the median line of the strait, he said.

Taiwan's top policymaker for China affairs urged Beijing to resume dialogue, after official communication channels were suspended by Beijing from June.

"I want to emphasize our government has sufficient capability to protect our national security. It's not necessary to overly panic," said Chang Hsiao-yueh, minister for Taiwan's Mainland Affairs Council, during a news briefing in response to reporters' questions on the Liaoning.

"On the other hand, any threats would not benefit cross-Strait ties," she said.