Russian warplanes have violated Estonian airspace, the foreign ministry in Tallinn has said, condemning the incursion as "brazen".

It said three Russian MiG-31 fighter jets "entered Estonian airspace without permission and remained there for a total of 12 minutes" on Friday over the Gulf of Finland.

The ministry said it summoned the Russian chargé d'affaires "to lodge a protest", while top EU diplomat Kaja Kallas described the incursion as "an extremely dangerous provocation".

Estonian media has reported the Russian jets had their transponders switched off in the airspace of a Nato member.

The Russian military has not publicly commented on the issue.