President Donald Trump announced he is considering cancelling his one-on-one meeting with Russian President Vladimir Putin at the G20 Leaders Summit in Buenos Aires later, which is scheduled to take place later this week.
The clash has prompted fears of a full-blown conflict between the two neighbouring countries.
Lavrov said Ukrainian warships had ignored maritime law when they tried to enter the Kerch Strait, aiming to create a scandal for domestic political purposes and USA encouragement for such acts "saddens me greatly".
Moscow's announcement about new missiles follows its seizure of three Ukrainian naval vessels and their crews on Sunday over what it said was their illegal entry into Russian waters, an allegation Ukraine denies.
Later on Wednesday a Crimean court is due to order the detention of nine of the 24 captured Ukrainian sailors - including senior Ukrainian naval officers and at least one member of Ukraine's SBU intelligence agency.
Russian Federation has accused Ukraine of trying to create an incident to help persuade the USA and Europe to add more sanctions on top of the penalties imposed after Russian Federation illegally annexed Crimea from Ukraine in 2014.
It has raised fears of a wider escalation - in a conflict that has killed more than 10,000 people since 2014 - and prompted worldwide calls for restraint.
He said that the Kremlin expects that the talks will touch on nuclear arms control, noting that it's particularly important to discuss them in view of the US intention to withdraw from the Intermediate-Range Nuclear Forces Treaty.More news: That Logitech and Plantronics deal is now dead
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Amid speculation that Poroshenko would use martial law as a pretext to postpone a spring 2019 election in which polls show he faces an uphill battle to win a second term, the parliament speaker signed a resolution setting the date for March 31.
The Kremlin called the introduction of martial law a "reckless" act that "potentially could lead to the threat of an escalation of tension in the conflict region in the southeast" of Ukraine.
Videos appeared online showing a Russian coast guard vessel ramming the Ukrainian navy tugboat in the Kerch Strait.
"When he came out [of that meeting], he was just completely reciting Putin's talking points, like he'd been hypnotized", the lawmaker said.
"I hope they understand that", he said. "What they are saying now is not true", he told Ukrainian media.
The European Union, Britain, Canada, France, Germany and others expressed support for Kiev on Monday, in statements pro-Kremlin newspaper Izvestia denounced as "predictably anti-Russian".
Russian foreign minister Sergei Lavrov, in Geneva for a United Nations conference, was asked about Western sanctions targeting Moscow following the confrontation.
"This meeting is necessary for both sides", Ushakov said. "But it will need to be reviewed", Karin Kneissl told reporters.