Maizuru hosts a key district headquarters for Japan's Maritime Self-Defense Force.
"Today, the Admiral Panteleyev large ASW ship accompanied by a rescue tugboat arrived at the Maizuru port on an unofficial visit," Capt. 1st Rank Igor Dygalo told RIA Novosti.
The visit is part of the Pacific Fleet's agenda of annual activities in international waters.
"The Russian vessels will participate in joint exercises with Japan's Maritime Self-Defense Force and practice coordinated maneuvering and communications," Dygalo said.
The Admiral Panteleyev is an Udaloy-class destroyer that serves as an anti-submarine warfare platform fitted with a variety of ASW weapons and limited surface-to-air defense capabilities.
The unofficial visit of the Russian ships to Japan will last until October 3, the spokesman said.