Responding to the footage on NTV, Mevlut Cavusoglu told reporters in the southern Turkish province of Antalya the incident was a "provocation".
He added: "It is not the right approach."
Tensions between Russia and Turkey have been high since Turkey shot down a Russian warplane after it violated Turkish airspace near the Syrian border on Nov. 24.
Despite receiving numerous warnings, the SU-24 bomber crossed into Hatay province and was shot down by Turkish F-16s. Russia has since announced economic sanctions against Turkey.
Referring to the Bosphorus incident, Cavusoglu said Turkey would react appropriately to perceived threats.
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