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

The recordings indicate that the plane was warned several times that it was approaching Turkey's air space and asked to change course.

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

Turkish fighter jets shot down the Russian Su-24 bomber on Tuesday, saying it violated Turkey's air space despite repeated warnings.

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