The first US cruise ship bound for Cuba in half a century set sail from Florida on Sunday, marking a new milestone in the rapprochement between Washington and Havana, AFP reports.

The ship - with 700 passengers aboard - is scheduled to glide into the port of Havana on Monday, its first stop on the communist-run island.

"To be a part of truly making history and preparing for an even more positive future for everyone is one of the greatest honors any company can have," Carnival Corporation chief executive Arnold Donald said.