Chinese ships are no longer at the disputed Scarborough Shoal in the South China Sea and Philippine boats can resume fishing, the Philippine defense minister said Friday, calling the Chinese departure a "welcome development."

Philippine fishermen can access the shoal unimpeded for the first time in four years, Defense Secretary Delfin Lorenzana said, capping off a startling turnaround in ties since his country rattled China by challenging its maritime claims at an international tribunal.

The departure of the Chinese coast guard ships comes after President Rodrigo Duterte's high-profile visit to Beijing and his repeated requests for China to end its blockade of the shoal, a tranquil lagoon rich in fish stocks.