The Kremlin has launched footage exhibiting armed naval inspectors boarding a cargo ship within the Black Sea - a vessel that allegedly didn't cease when instructed to by a Russian warship.

Moscow stated it fired warning shots on the Palau-flagged Sukru Okan after it failed to reply to a requirement for it to halt on Sunday.

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In the video, which seems to be bodycam footage, the Russian servicemen transfer down a hall carrying computerized weapons and enter the vessel's bridge as they query the captain why the ship had not stopped.

"Stop machine, stop machine," one of many armed Russians says as crew members first have their fingers on their heads after which kneel as a Russian army helicopter approaches.

"Keep calm and listen to me," one other Russian says. "Good day sir. I am Russian naval officer - please don't shoot my group on video."

It seems the vessel's failure to cease might have been attributable to a language barrier.

In one clip launched by the defence ministry, a Russian calls for: "Speak English."

"Yes, I am speaking English," a crew member replies.

The Russian officer then questions the captain - by way of a crew translator - about why the ship didn't cease when it was requested to.

The captain had misunderstood the Russian demand to cease, the translating crew member says.

"You, bad understand," the crew member says in English.

"Thank you, you good day sir," the Russian officer says as he leaves.

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The work of the inspection staff was carried out "professionally in accordance with the requirements of international documents", Russia's defence ministry stated.

"After the completion of the work of the inspection team on board the Sukru Okan, a verification protocol was drawn up, (and) the ship continued to move to the port of Izmail (southwestern Ukraine)," it added.