Kenya and the US should brace for more daring attacks in coming days, Al-Shabaab militants have warned, adding that "we shall target tourists".

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In reference to US Naval Base attack in Lamu on Sunday, the Somalia-based militants said Kenya "will never be safe", calling for more attacks against Washington.

The future attacks, Al-Shabaab now says, will target tourists and US interests within East Africa, a Japanese news agency said.

 Camp Simba attack in Lamu on Sunday, Al-Shabaab says, should serve as a "warning" and Kenya should immediately withdraw her soldiers from Somalia.

“Withdraw all your forces from our Muslim lands while you still have the chance," the Al-Qaida associates said, adding, "Otherwise brace yourselves for the worst and prepare for perilous times ahead."

Kenya and the US have roughly 3,000 troops stationed in Somalia whose main duty is to protect civilians and the fragile Federal Government of Somalia.

Also, the troops are engaged in fundamental capacity-building processes that have seen thousands of SNA strengthened.

But Al-Shabaab now says "Kenya will never be safe and Kenyans will never sleep soundly at night."

“Tourists and travelers visiting the country are hereby warned that there will no longer be any safe sightseeing or safari trips in Kenya.”

The United States has since deployed East Africa Response Force (EARF) to Manda Bay following the deadly raid on Sunday.

“The EARF provides a critical combat-ready, rapid deployment force,” said U.S. Army Maj. Gen. William Gayler, director of operations, U.S. Africa Command

“The EARF’s ability to respond to events spanning a vast area of responsibility provides a proven and invaluable on-call reinforcement capability in times of need.”

Pentagon on Tuesday sent condolences to the families of the victims, confirming that two soldiers were critically injured during the fight.

Defense Secretary Mark Esper said "the cowardly attack was repulsed but we shall ensure perpetrators are all brought to justice".