The government of President Ivan Duque said it sent a strongly-worded protest to the Venezuelan ambassador over what it claimed was a "violation of Colombia's sovereignty" in Norte Santander department on Sunday.

"Two helicopters, identified with the initials of the Bolivarian National Guard and about 30 armed personnel belonging to the Bolivarian National Armed Forces of Venezuela" landed in the border region of Tibu, the foreign ministry said.

The ministry said it sent a note "expressing the strongest protest" to the Venezuelan ambassador in Bogota.

The South American neighbors have locked horns in recent years over similar incidents along their 2,200-kilometer (1,370-mile) border crisscrossed by guerrillas and drug traffickers.

The most recent incident was in November last year and also involved the Tibu region.

Like his predecessor Juan Manuel Santos, Duque has branded Venezuela a "dictatorship" under President Nicolas Maduro.

Earlier this month, Maduro accused Santos of being behind an alleged attempt to assassinate him during a military parade in Caracas.

Hundreds of thousands of Venezuelans fleeing the economic crisis in their home country have taken refuge in Colombia, which Maduro has also accused of sheltering his opponents.

Colombia urged Peru and Ecuador to coordinate their immigration policies to deal with an influx of Venezuelan migrants.