Turkish F-16 fighter jets were scrambled after a Russian warplane violated Turkey's air space on Saturday, the foreign ministry said.
Russia said the incident was a "navigational error" and that it has "clarified" the matter to Ankara.
Turkish jets patrolling the border were also "harassed" by an unidentified plane on Sunday, Turkey said.
Russia has been carrying out air strikes in Syria in support of President Bashar al-Assad.