As a result, a joint statement was canceled, although both host Malaysia and US Defence Secretary Ash Carter discounted the significance of the failure, which reflected a split with China and other Asian nations over the South China Sea issue.
"I had no expectation there would be agreement," Carter told a news conference, adding that the important point was that the South China Sea was a "persistent topic" of the conference.
Carter defended US Navy patrols in the contested waters that China objects to, saying the US has been sailing in the South China Sea for decades. What's new and problematic, he said, is China's land reclamation and militarisation of reefs and islets.
"What we sign on the joint declaration is not going to resolve the issue of duplicating claims nor is it going to wish vessels that are in the South China Sea away," Malaysian Defence Minister Hishammuddin Hussein said.
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He said that "our concerns are more real ... Unintended accidents at the high sea, which can spiral into something worse and that we must avoid." He said that the Southeast Asian grouping will continue to engage China and the US to ensure peace and stability in the region.
In a statement issued by the host country, Malaysia said the meeting noted the importance of the early conclusion of the code of conduct in the South China Sea - a set of rules meant to govern behavior in the disputed waters - "in order to build mutual trust and confidence, and maintain peace, security and stability in the region." China has so far dragged its feet in concluding discussions on the code of conduct.