SYDNEY—Australia accused the Chinese navy of injuring some of its divers with sonar pulses during an operation near Japan, reigniting tensions between a key U.S. ally and Beijing just days after their leaders met to stabilize ties.

The Australian divers were attempting to remove fishing nets from the propellers of HMAS Toowoomba, a long-range frigate, on Tuesday when they were targeted by a sonar from a Chinese naval destroyer, said Australia’s acting Prime Minister Richard Marles.