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The Pakistan Air Force said it scrambled two fighter jets after two "high-speed" Indian planes crossed the border over its eastern province of Punjab at about 10:40 am (0540 GMT).
The planes were reportedly five to seven miles inside Pakistan.
As soon as the violation occurred, the air traffic controller signaled the planes for a sign explaining the move. When no signal was sent back, the air traffic controller informed Pakistan Air Force (PAF).
While PAF was preparing to respond, the Indian planes had left Pakistani airspace two minutes later.
The Foreign Ministry conveyed serious concern to the Indian High Commission over the incident, Radio Pakistan reported.
India was told that Pakistan considers the airspace violation as a contravention of the 1991 bilateral agreement on Prevention of Airspace Violations.
India accused Pakistan last week of fomenting militancy in the Indian state of Punjab and killing a soldier in cross-border firing.
Pakistan rejected both allegations.
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