Dozens of commercial flights were forced to divert last week when the vessels announced live firing drills underneath a busy flight path halfway between Australia and New Zealand.
Both nations have criticised China for springing the drills with little warning -- Australian officials said a last-minute alert was broadcast on a channel unchecked by air controllers.
Peters said he raised "the failure to give us adequate notice" while meeting with China's top diplomat Wang Yi in Beijing on Wednesday.
"We did place on record our concern, and the expectation that we will have a better warning in the future," Peters told reporters after the meeting.
"I think it would be true to say that he took our concerns on board."
New Zealand also raised the importance of "international rules" underpinning "stability" in the region, Peters added in a statement released Thursday.
"Our region and the world are facing a myriad of challenges, including increased tensions in the South China Sea and Taiwan Strait."
Australia and close ally New Zealand have been monitoring the vessels -- a frigate, a cruiser and a supply tanker -- since they were detected in international waters off Australia last week.
Officials said 49 commercial flights were forced to divert around the live firing zone on February 21.
Australia said the drills took place in international waters, and has conceded China's conduct abided by international law.
China has defended its conduct as "safe, standard and professional".
The warships were 350 nautical miles (648 kilometres) northeast of Australia's Bass Strait on Tuesday morning, New Zealand's defence force said.
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