India said on Friday it had accidentally fired a missile into Pakistan this week because of a "technical malfunction" during routine maintenance, giving its version of events after Pakistan summoned India's envoy to protest.

Military experts have in the past warned of the risk of accidents or miscalculations by the nuclear-armed neighbors, which have fought three wars and engaged in numerous smaller armed clashes, usually over the disputed territory of Kashmir.

Tensions have eased in recent months, and the incident, which may have been the first of its kind, immediately raised questions about safety mechanisms.