The call, which was initiated by Moscow, comes as tensions between the two sides flare over Washington's plan to deploy long-range missiles in Germany, a decision the Kremlin warned could spell a return to Cold War-style confrontation.

"The issue of preventing security threats and reducing the risk of possible escalation was discussed," Russia's defence ministry said in a statement on the talks.

The two sides have managed to organise sporadic phone calls despite raging tensions over the conflict in Ukraine, including a recent call at the end of June where Moscow chided Washington's arms supplies to Kyiv.

The White House announced on Wednesday during a NATO summit that it would station long-range weapons including Tomahawk cruise missiles in Germany as a deterrent.

The Kremlin criticised the move, accusing Washington of taking a step towards a new "Cold War" and of directly participating in the conflict in Ukraine.