The foreign ministry of Malaysia on Tuesday said it would summon China's envoy to explain an "intrusion" by 16 air force planes into its airspace, after the Southeast Asian country's military detected "suspicious" activity over the South China Sea.

Malaysia's air force said it scrambled jets on Monday to conduct visual confirmation after the planes flew within 60 nautical miles of Malaysian Borneo's Sarawak state.

It described the incident as a "serious threat to national sovereignty and flight safety."