Thomson Reuters
The destroyer, the USS John S. McCain, collided with the vessel Alnic MC at 6:24 a.m. local time, according to a Navy statement.
The collision occurred east of Singapore and the Strait of Malacca as the destroyer was heading to Singapore for a routine port visit.
There were no immediate reports of injuries, although the Navy said a search-and-rescue operation was underway.
The warship "sustained damage to her port side aft," or the back-left portion of the ship, according to the Navy statement.
The merchant vessel is identified by MarineTraffic.com as a tanker sailing under the Liberian flag.
US Sen. John McCain, whose father and grandfather are the ship's namesake, offered his condolences in a tweet Sunday evening.
"Cindy & I are keeping America's sailors aboard the USS John S McCain in our prayers tonight - appreciate the work of search & rescue crews," McCain said.
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The collision is the second such incident in two months, coming after the USS Fitzgerald collided with a merchant vessel southwest of Japan in mid-June.
McCain had recently visited the warship in Vietnam, according to Fox News, which added that earlier this month, the ship sailed past contested man-made islands in the South China Sea.