The semi-autonomous Chinese territory of Macau opened its first representative office in Taiwan on Sunday, to be followed by Hong Kong on Tuesday, amid warming ties between between Taipei and Beijing.

The opening of the Macau Economic and Cultural Office is of "historical significance", Taiwan's Mainland Affairs Council said, as officials pledged to step up air transportation links and joint efforts against crime.

The enhancement of ties between Taiwan and the two semi-autonomous Chinese territories is made possible by the improvement of Taipei-Beijing relations, observers say.

Tensions with the mainland have eased markedly since the China-friendly Kuomintang government of Ma Ying-jeou came to power in 2008 on promises of beefing up trade links and allowing in more Chinese tourists.

Taiwan has governed itself since the end of a civil war in 1949.