Israel issued a formal letter of regret on Tuesday over the killing of Jordanian judge Raed Zueter by Israeli soldiers at the Allenby crossing.

In a rare move, Prime Minister Benjamin Netanyahu issued a statement expressing "regret" for Zueter's death and sending "sympathies to the people and government of Jordan."

"In light of our commitment to the peace treaty, Israel has already shared with Jordan the results of its preliminary investigation of the incident. Israel has also agreed to a Jordanian request to establish a joint Israeli-Jordanian team to complete the investigation. The joint team will commence its work promptly," the statement said.

The unusual statement was issued after marathon talks over the last 24 hours between the prime minister's envoy Isaac Molho and senior Jordanian government officials intended to prevent any escalation.

Jordanian Foreign Minister Nasser Judeh summoned Israel’s charge d’affaires in Jordan on Monday to strongly condemned the incident and demand Israel immediately investigate it, according to the Jordanian news agency Petra.

Also on Monday, the Jordanian government sent a sharply-worded statement to its Israeli counterpart, after Jordanian protesters gathered outside the Israeli Embassy in Amman condemning the incident.