Turkey has shot down a Russian fighter jet near its border with Turkey after claims that it violated Turkish airspace.

The Russian Su-24 jet was brought down by an air-to-air missile from a Turkish F-16, but Turkey insists that it only fired after warning the Russian jet had strayed into its airspace.

However, Russia contends that its plane always remained in Syrian airspace, “1km from the border”, and was shot down “at a height of 6,000 metres (20,000ft)”.

Turkey has requested Nato holds an extraordinary meeting over the incident.

Meanwhile, President Vladimir Putin has described the incident as a “stab in the back” committed by “accomplices of terrorists” and Russian Foreign Minister Sergei Lavrov has cancelled a visit to Turkey that was planned for Wednesday.

In a further sign of deteriorating relations between the two countries, Russia has also advised its citizens against travelling to Turkey and says the threat of terrorism there reflects that of Egypt, where a Russian passenger jet was recently brought down in a bomb attack by militants affiliated with the Islamic State.

One of the Russian pilots is reported to have been discovered by a rebel group within Syria, who published a video of the incapacitated pilot online.