There were no injuries after the aircraft, believed to be a Chinook, touched down near the border with Jordan.
It is thought to have landed close to an Israeli minefield after a mechanical failure.
An MoD spokeswoman said: "We can confirm that an RAF helicopter has made a precautionary landing in the West Bank in the course of a flight following a routine exercise.
"The crew are safe and well."
Jericho is located near the River Jordan in the West Bank. It has been held under Israeli occupation since 1967.
The Palestinian Authority was handed administrative control of the town in 1994.
Chinooks are tandem rotor helicopters used for transport and heavy-lift support.
The RAF's fleet has seen service including the Falklands War, peace-keeping in the Balkans, and the Iraq and Afghanistan wars.