Turkish President Recep Tayyip Erdogan warned Russia would "face consequences if it continues such violations".
Tensions have been high between Ankara and Moscow since Turkey shot down a Russian plane which violated its airspace near Syria in November.
Russia has been carrying out air strikes in Syria to support government troops near the Turkish border.
"A Su-34 plane belonging to the Russian Federation air force violated Turkish airspace at 11:46 local time yesterday (Friday)," the Turkish foreign ministry said.
Its statement said the Russian ambassador had been summoned to "strongly protest at and condemn" the incident.
It called the violation a "concrete indication of Russian acts aiming to escalate problems" and warned Russia "will be held responsible for any dire consequences which can emerge from such irresponsible acts".