A military statement Sunday said F-16 jets were scrambled, and sent to the border after the helicopters flew in the area on at least three occasions.
The military did not report that any direct confrontation had taken place.
The jets were scrambled days after Turkey said it would treat any Syrian military unit approaching its border as a direct threat in response to the downing of a Turkish reconnaissance plane by Syrian forces on June 22.
Turkey has also reinforced its border with anti-aircraft guns and other weapons.
The military said the helicopters flew as close as 4 miles (6.5 kilometers) to the Turkish border.