Russian president Vladimir Putin has described the shooting down of a Russian warplane by a Turkish fighter jet this morning as  as a "stab in the back by the terrorists' accomplices".

Mr Putin warned of "significant consequences" for Russia's relations with Turkey, while Foreign Minister Sergey Lavrov cancelled a visit to the country which had been planned for Wednesday.

At Turkey's request, Nato's governing body called an emergency meeting.

Turkish prime minister Ahmet Davutoglu insisted his country has the right to take "all kinds of measures" against border violations, and called on the international community to work toward "extinguishing the fire that is burning in Syria".

Turkey said the Russian Su-24 ignored several warnings that it was nearing, then intruding, into Turkish airspace. Russia insisted the plane stayed over Syria, where it was supporting ground action against rebels.

Mr Putin said: "We will never tolerate such atrocities as happened today and we hope that the international community will find the strength to join forces and fight this evil."

Rebels said they fired at the two parachuting pilots as they descended, and that one had died.

A rebel spokesman said they would consider releasing the body in exchange for prisoners held by Syria. The fate of the second pilot was not immediately known, with some reports that he had also been killed. 

The Turkish foreign ministry invited diplomats from the five UN Security Council member countries for a meeting to brief them about the incident.

Separately, the Russian charge d'affaires was also invited for a meeting during which Turkey "conveyed its sensitivities" over border violations.

Turkey has complained repeatedly that Russian planes supporting Syrian president Bashar Assad were straying across the border - a complaint repeated to the Russian ambassador only last Friday.

The Russian plane was supporting Syrian troops which have been on the offensive in an area controlled by several insurgent groups including al-Qaida's branch in Syria, the Nusra Front, and the 2nd Coastal Division and the 10th Coast Division that includes local Turkmen fighters. 

Turkish officials released what they said was the radar image of the path the Russian plane took, showing it flying across a stretch of Turkish territory in the country's southern-most tip.

Last month, Turkish jets shot down an unidentified drone that it said had violated Turkey's airspace.