Turkey summoned the Russian ambassador in Ankara to the foreign ministry and "strongly protested" the violation, the Turkish foreign ministry said in a statement.
It demanded that "any such violation not be repeated," otherwise Russia "will be responsible for any undesired incident that may occur."
The Russian jet infringed Turkish airspace at 12:08 pm (0908 GMT) on Saturday south of the Yayladagi region in Turkey's southern Hatay province, according to the foreign ministry.
Turkish Foreign Minister Feridun Sinirlioglu called his Russian counterpart, Sergei Lavrov to convey Ankara's unease, the statement said.
He also made telephone conversations with counterparts from NATO allies, as well as NATO chief Jens Stoltenberg, the ministry said.
Russia and Turkey have long been at odds over the crisis in Syria, with Moscow emerging as Syrian President Bashar al-Assad's key international backer and Ankara urging his ouster as the only solution to the conflict.
