"Pakistan's serious concern over air incursion by ISAF-NATO aircraft, that attacked Pakistan military's Ziarat post in south Mohmand, located 2.5 km away from Pak-Afghan border, inside Pakistan territory, has been conveyed to the US Embassy in Islamabad," said a statement issued by Foreign Office spokesperson Tehmina Janjua.
Pakistan requested the US to conduct a "joint inquiry of this incident."
The incident has been taken up with the US, NATO and International Security Assistance Force on "both the military and diplomatic tracks," the statement said.
Islamabad has accused US and NATO aircraft of violating its airspace on several occasions in the recent past.
Published 17 June 2011, 16:00 IST