關於在南海航行最早的成文紀錄是在西元前第2到西元前第1世紀，當時船隻性能有限，都是沿著海岸線航行。因此，主要的航線是沿著中國、印度支那半島、馬來半島、印尼群島航行，而未敢向海中航行。在第3世紀發現了西沙群島，至第5世紀，航行技術提昇，船隻可以從中國廣州直接航行到印尼的爪哇島。然後從爪哇島航行到婆羅洲、菲律賓南部。在第7世紀有從中國越過臺灣海峽到流求國之紀錄。在第10世紀中葉，船隻構造更為先進，能抗拒強勁海浪，船隻可以遠航，故可越過有激流的臺灣海峽到澎湖、經臺灣南部到呂宋島、菲島中部；以及從越南南部經婆羅洲西部到東爪哇。在第13世紀發現中沙群島、第15世紀發現東沙群島和第16世紀中葉發現南沙群島，顯然是當時船員想直接從中國或越南航行到菲律賓或者想從呂宋往西北航行到中國時，才發現該一群島。探討早期南海航路之發現，有助於瞭解該一地區人口移動、貿易以及文明發展的脈絡。

The oldest written record concerning sailing on the South China Sea dates back to the 2nd century B.C. At the time, the boats were only capable of voyage along the coast. Therefore, the main route was along the coast of China, Indochina, the Malay Peninsula and the Indonesia Islands. The sailors dared not voyage far from the coast. In the 3rd century, the Paracel Islands were discovered. In the 5th century, as nautical and navigational skills became more advanced, it became possible to sail directly from Guangzhou to Java island, and then to Borneo in the southern Philippines. In the 7th century, the first voyage from China across the Taiwan Strait to the Reuchieu Island was recorded.During the 10th century, advances were made in the construction of ships. The vessels could now resist stronger waves and sail for further distances, crossing the Taiwan Straits to Penghu (Pescardos), Southern Taiwan, Luzon, the central part of the Philippines and from southern Vietnam through Borneo to East Jaya. In the mid-16th century, the Macclesfield Islands and the Nansha Islands (Spratlys) were discovered. The islands were discovered by crews sailing directly from China or Vietnam to the Philippines or northwest from Luzon to China. At the end of the 15th century, the Pratas Islands were discovered. Researching the early voyages in the South China Sea contributes to our understanding of the movement of people, as well as the trade and the exchange of cultures in this area. Furthermore, there is currently a conflict of sovereignty in the South China Sea. These historical records of the discovery and utilization of the islands in the South China Sea can help with these claims of sovereignty.