The HMS St Albans monitored the Russian frigate Admiral Gorshkov in the North Sea, "keeping track of its activity in areas of national interest," it said in a statement.
The St Albans, a Type 23 frigate, was deployed on Saturday to track the Russian vessel and would return to its Portsmouth base Tuesday.
"I will not hesitate in defending our waters or tolerate any form of aggression," defence minister Gavin Williamson said in a statement after the incident.
"Britain will never be intimidated when it comes to protecting our country, our people, and our national interests."
The defence ministry said there had been a recent "upsurge in Russian units transiting UK waters".
It said the patrol ship HMS Tyne also escorted "a Russian intelligence-gathering ship" through the North Sea and the Channel on Sunday.
A navy helicopter was sent to monitor two other Russian vessels.
HMS St Albans was also involved in escorting a Russian aircraft carrier and missile cruiser through the Channel in January this year.
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