John McCain railed against the Obama administration late on Wednesday night for what he called a desperate attempt not to offend Iranians following the seizure of two U.S. Navy vessels and apprehension of 10 sailors.

"This is desperation not to offend the Iranians because the Iranian deal has to be kept intact," the Arizona senator said on Fox News' "The O'Reilly Factor." "It's now made the United States of America be the subject of absolute humiliation."

Iran on Wednesday released the sailors — nine men and one woman — it held captive earlier this week after their boats experienced a mechanical issue and drifted into Iranian territory in the Persian Gulf. After their release, Iranian media began publishing a series of photos and videos of the capture and detainment, including a video in which one male sailor, possibly under duress, apologizes to Iran and praises their treatment of the sailors.

"They're not only taunting, but this is a great propaganda coup for the Iranians," said McCain, who chairs the Senate Armed Services Committee. "In other words, their head of their IRGC [Iranian Revolutionary Guard Corps] Navy said the U.S. cannot stand up to Iran. They were in sight of our missiles, he said. If this had happened it would have led to their annihilation."

"Unbelievably, Biden said this was just standard nautical practice, Kerry said all indications show the sailors were taken care of, Earnest — that idiot — said the proper courtesy…Iran gave our sailors the proper courtesy you'd expect," he continued, referring to White House press secretary Joshua Earnest. "And Kerry, to top it all off, expressed his gratitude."

Indeed, Vice President Joe Biden had said the U.S. didn't formally apologize to Iran because no apology was necessary. It was "standard nautical practice," he said. Secretary of State John Kerry thanked Iran for its "quick" and "appropriate" response, adding that the sailors were "well taken care of." Earnest on Tuesday had said the sailors were "being sort of afforded the proper courtesy that you would expect."