Article 2 of the agreement guarantees freedom of movement through the straits and in the Sea of Azov to all Russian and Ukrainian commercial and military vessels.
"What we witnessed this weekend is yet another reckless Russian escalation" of what began with Russia's seizure of Crimea from Ukraine in 2014 and its ongoing support for separatists in eastern Ukraine, said Haley, who will step down as United Nations ambassador at the end of the year.
The strait is spanned by a new bridge that Russia completed this year - the only land link from the Russian mainland to the annexed peninsula of Crimea.
On Twitter, Alexei Navalny, the prominent Putin critic, said the decision to ram, fire on and seize two gunboats and a tugboat is straight out of the Russian leader's traditional playbook in which he uses foreign adventures to divert domestic attention and encourage a siege mentality, whereby Russians feel Western nations are ganging up on them.
Antonio Guterres said he was "greatly concerned" about the situation and called on "both parties to exercise maximum restraint and to take steps without delay to contain this incident and reduce tensions".
Moscow has accused Kiev of planning Sunday's confrontation as a provocation aimed at drumming up support for Poroshenko ahead of elections next year and convincing Western governments to impose further sanctions on Russian Federation.
The FSB statement said the alleged operation was "coordinated by two members of the Ukrainian Security Service assigned to the crews of the military boats".
In Kiev, Poroshenko said intelligence data suggested there was an "extremely serious threat" of a land-based operation against Ukraine by Russian Federation.
The parliament nonetheless watered down Poroshenko's request amid fears that it was an attempt to postpone elections next March in which he is now projected to lose. The three naval vessels had been attempting to enter the Sea of Azov through the Kerch Strait.
Read Dead Online LAUNCHES This Tuesday
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Across the border, migrants can be seen running near a pedestrian bridge in Tijuana. Doctors released them to the custody of U.S. Border Patrol agents, officials reported .
Suspect who killed woman in Walmart now in custody
Ballard told the newspaper that the pair had been arguing all day Saturday because he wanted to get back together and she did not. He has not died of his injuries at the time this article was publish, and is being treated for his injuries at an Ocala hospital.
Ukraine's foreign minister told The Associated Press on Tuesday that he has asked the president of the International Committee of the Red Cross to arrange a visit to the Ukrainian prisoners and he's waiting for a Russian response.
Monday, US Ambassador to the UN Nikki Haley spoke out against Russia's actions at an emergency UN meeting saying, "The United States will continue to stand with the Ukraine against the Russian aggression".
France's Foreign Ministry said shortly after the incident that "nothing justifies" Russia's use of force, but after long talks with Lavrov, Le Drian blamed the standoff on the "high level of militarization" in the region and avoided pointing the finger at Russian Federation.
Hours after the phone call, the Kremlin issued a follow-up statement denouncing the martial law in Ukraine.
Russia's FSB security service, which oversees border forces, confirmed weapons had been fired and the vessels seized, but accused Ukrainian ships of crossing illegally into Russian waters and of ignoring warnings.
"In May, the United States condemned Russia's construction and opening of the Kerch Strait Bridge between Russian Federation and occupied Crimea".
In any case, one Ukrainian maritime expert, Andrii Klymenko, who is editor of Black Sea News, believes he has fixed the position of the Ukrainian tug at the center of the incident.
In the past, the Kremlin has used so-called "little green men" - Russian soldiers without an insignia - to stage provocations or battle Ukrainian forces, denying they are directed by Moscow.
The crisis started when Russian forces fired on two Ukrainian naval ships and struck a tugboat in the Kerch Strait on Sunday. "But it will need to be reviewed", Karin Kneissl told reporters. "And hopefully it will get straightened out".
An emergency session of the UN Security Council was held on Monday to discuss the crisis.