Turkey has released audio recordings of what it says are the Turkish military's warnings to the pilot of the Russian plane that was shot down at the border with Syria.

The recordings made available to The Associated Press on Thursday indicate that the plane was warned several times that it was approaching Turkey's airspace and asked to change course.

The voice is heard saying: "This is Turkish Air Force speaking on guard. You are approaching Turkish airspace. Change your heading south immediately."

Turkey shot down the Russian Su-24 bomber on Tuesday, saying it violated its airspace despite repeated warnings.

The plane's surviving pilot has denied that his jet veered into Turkey's airspace and rejected Turkey's claim that it had issued repeated warnings to the Russian crew.