The USS Alexandria, a Los Angeles-class attack submarine, docked at a naval base in the southern port city to resupply and provide rest for its crew.
Commissioned in 1991, the Alexandria is making its first visit to South Korea.
"We express grave concern over the U.S. dangerous hostile military act that can lead the acute military confrontation in the region around the Korean peninsula to an actual armed force conflict," the official state-run Korean Central News Agency (KCNA) reported, quoting a defense ministry spokesperson as saying.
The spokesperson also denounced it as "a clear expression of the U.S. invariable hysteria for confrontation" with Pyongyang.
North Korea has vehemently protested the presence of U.S. strategic assets and joint military exercises with Seoul, claiming that they threaten "regional stability."
Meanwhile, this year's first joint live-fire drills between South Korea and the U.S. are currently underway in Pocheon, Gyeonggi Province.
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