Do we need to obtain visa in China for being there less than 1 day?

In few months, we will disembark the cruise at Tianjin cruise home port at 7 AM then will go straight to the Beijing airport to return to the United States.

Our flight will depart at 4 PM same day.

We're US citizens who will only be in China less than 12 hours with 2 scheduled plane tickets in hands.
Please inform me whether or not we will need to obtain entry permit in China for being there less than 1 day?
Thank you !