Iraq's Foreign Ministry has called the Turkish ambassador and demanded that Turkey immediately withdraw troops deployed near the Islamic State-controlled city of Mosul in Iraq.
Iraq considers the Turkish forces' invasion into the Iraqi territory a "hostile act". On the other hand, the Turkish Prime Minister Ahmet Davutoglu has said the troops had set up a camp near Mosul last year, according to Reuters.
"This camp was established as a training camp for a force of local volunteers fighting terrorism," said Davutoglu in a speech to a lobour union, Reuters reported.
It is believed that Iraqi forces cannot retaliate to Turkish troops because they are tied down fighting at some other places.
Iraq has a history of suspect behaviour towards foreign powers that provide direct intervention, but at the same time, Iraq has urged international countries to provide more weaponry in its battle against the Islamic State militants.
Iraq's President Fouad Massoum called the Turkish troops deployment a "violation of international norms and law". He called on Turkey to withdraw their troop.
The camp was set up at 19 miles north-east of Mosul on request from Mosul's governor, coordinated with the Iraqi defence ministry, Davutoglu was quoted as saying by Reuters.
US officials planned to send more troops to Iraq, promoting powerful Iraqi politicians and militias to protest against foreign troops in the country. The United States was aware of Turkey deploying soldiers in Iraq but said the movement is not in accordance with the US-led coalition activities, Reuters reported.
In the last few months, Turkey has been bombing Kurdish militant posts in Iraq. Iraqi Shiite groups are committed to fight a planned US deployment of forces in the middle-eastern country, Reuters has reported.