"Initially the Venezuelan military planes entered 2.9km (1.8 miles) into Colombian airspace," a statement from Colombia's Ministry of Defense said, according to the BBC.
The planes encroached into Colombian airspace twice on Saturday morning, according to the defense ministry.
They reportedly flew over a border military base in the Alta Guajira region. The jets then returned to Venezuela and crossed into Colombian airspace again, "flying over a military base in the La Flor region."
The planes went 2.3km (1.4 miles) west of the border before flying back towards Castilletes, on the Colombian-Venezuelan border, the statement added.
Colombian officials have demanded an explanation from Venezuela, which has yet to comment. Relations between the two countries have been tense.
