Jerusalem: Israeli troops shot and killed a Jordanian judge of Palestinian descent at a West Bank-Jordan crossing after he allegedly tried to grab a gun from a border guard, causing new frictions with the Palestinians and Jordan.

The military said the judge, 38-year-old Raed Zeiter, lunged toward the Allenby Bridge terminal yelling, ''Allahu Akbar,'' or God is Great, and tried to wrest a weapon from an Israeli soldier. Soldiers opened fire at his legs to try to restrain him, at which point he tried to strangle a soldier and was shot to death, the military said. The crossing is under overall Israeli security control.

Protesters demonstrate near the Israeli embassy in Amman against the shooting of the judge. Credit:Reuters

Jordan's Foreign Affairs Minister, Nasser Judeh, summoned Israel's No. 2 diplomat to Amman to condemn the shooting and demand the Israeli government immediately open an investigation, Jordan's state-run Petra news agency reported. Palestinian Prime Minister Rami Hamdallah issued a statement condemning the judge's killing and calling for an international investigation.

Petra said the judge was shot after an altercation with Israeli troops. Mr Zeiter lived with his family in Amman, where he was a judge in the Court of First Instance, the news service said.