The battle took place on 18 June 1792, between the Polish–Lithuanian Commonwealth Army of Józef Poniatowski and an Imperial Russian Army group under the command of General Irakly Morkov, which was a part of General Mikhail Krechetnikov's Russian forces invading the Polish–Lithuanian Commonwealth from the south.

The battle ended in Polish victory, as the Russian assault was repulsed, although the Poles soon withdrew from the battlefield.

On 17 June, Polish commander Prince Józef Poniatowski received information in Szepietówka that the Lubomirski division was now camped in Zasław.

His formation secured a hill situated on the north of the road from Połonne to Zasław which dominated the area.

In the early morning of 18 June, a Russian group under command of General Irakly Morkov was observed.

The order of this group was to attack the Polish army left wing and destroy the rest of train.

About 7 a.m., Markow wanted to begin to attack but changed his orders when he saw that Polish formations under Poniatowski had moved onto the battle field.

Kościuszko with his division had to stay in the rear in order to prevent an attack from Levanidov and Dunin corps.

Under mass artillery fire and a Russian attack, panic was induced among the Polish recruits who began escaping.

Russian infantry under fire of artillery and a Polish counterattack began withdrawal incurring heavy losses.

Meanwhile, another Russian infantry unit secured the village of Zieleńce and opened fire on Polish formations.

[9] Polish losses were significant; soldiers lacked ammunition and food; Derdej compares it to a Pyrrhic victory.

[10][1][4] The Russians nonetheless sustained heavier losses, and were significantly delayed in their pursuit of the Polish forces.