The collision tore a hole in the warship's port side at the waterline, flooding compartments that included a crew sleeping area.
About two hours later, Trump tweeted that "thoughts and prayers" are with the McCain's sailors as search and rescue efforts continue.
Navy officials continue to investigate the Fitzgerald collision, and analysts said the McCain accident may cause them to examine it further still.
The San Diego-based Champlain was operating in the western Pacific for the first half of the year as part of the 3rd Fleet's USS Carl Vinson aircraft carrier strike group.
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China has been upset at US freedom of navigation operations near Chinese controlled islands in the disputed South China Sea, where China has been reclaiming land, building air bases and increasing its military presence.
Chief of Naval Operations Adm. John Richardson on Monday announced the Navy will review all recent incidents in the Pacific - an "operational pause" across the fleet and an evaluation of training and certification of forces near Japan. "I've got 140,000 sailors that report for duty in the Pacific Fleet every day".
The guided-missile destroyer and the merchant vessel collided Monday east of the Malacca Strait, the fourth time a United States warship has been involved in an accident in Asian waters this year. Servicemembers like Jacob represent the very best of our state, and I'm hopeful the divers searching for these courageous sailors can find him and bring him home safely.
Kuala Lumpur - A collision between a USA warship and an oil tanker near the Straits of Malacca has shone a light on a territorial dispute that has simmered between neighbours Singapore and Malaysia for almost 40 years. The U.S. Seventh Fleet is headquartered in Japan. The Malaysian Maritime Enforcement Agency said it had deployed more than 500.
The broken destroyer, now docked in Singapore while investigators look into the cause of the crash, is the fourth Navy vessel involved in an accident this year in the Pacific.
The McCain is an Arleigh Burke-class destroyer - named after the father and grandfather of Sen. The collision was reported at 5:24 a.m. Monday, east of the Malacca Strait, one of the world's most congested shipping routes.