Rockets fired from an area in Syria controlled by the Kurdish Peoples' Protection Units (YPG) targeted a Turkish army command post in the Ceylanpinar district of Turkey's southern Sanliurfa province.
The Turkish army fired back, killing 11 "terrorists", it said. There were no reports of casualties on the Turkish side.
This was the third day in a row clashes have been reported across the tense border after the Turkish air force earlier this week bombed YPG targets in Syria.
Russia's foreign ministry on Wednesday meanwhile said Turkey's bombing raids were unacceptable and called on all sides to show restraint.
But Ankara insisted that Washington and Moscow had been properly informed ahead of time.
Turkey says fighters of the YPG in Syria are linked to Kurdistan Workers' Party (PKK) separatists inside Turkey, who have waged an insurgency since 1984 that has killed over 40,000 people.
But Washington, wary of committing large numbers of its own forces on the ground, sees the YPG as essential in the fight against IS in Syria.
"Are we going to leave them unanswered? We are doing what is necessary. We will take this kind of measure as long as the threats continue," Erdogan told a conference in Istanbul.
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