0211 GMT May 21, 2022
Another Russian news agency, RIA, quoted Armenia's Security Council as saying the incident took place on Sunday but the Azerbaijani troops had since left.
Interfax quoted an Azerbaijani Foreign Ministry spokesperson as saying Azerbaijani forces were operating on the country's own sovereign territory and accusing Armenia of "provocations", according to Reuters.
The incident marked an escalation of tensions between the two former Soviet republics, which fought a 44-day war last year that killed at least 6,500 people and ended in a decisive victory for Azerbaijan.
Pashinyan did not say on what scale the alleged incursion had taken place but told a Security Council meeting that he had dismissed minister Arshak Karapetyan over the incident.
TASS news agency said Armenia had reported the episode to Russia and the Collective Security Treaty Organization, a military alliance of post-Soviet states.
Last year's war over the enclave of Nagorno-Karabakh was ended by a Russian-brokered deal under which Moscow deployed 1,960 peacekeepers to the region for an initial five-year period.
But the accord left many questions unresolved, including the legal status of Nagorno-Karabakh and the Armenians who live there, who numbered up to 150,000 before the war.