JERUSALEM — Israeli soldiers on Monday fatally shot a Jordanian judge of Palestinian origin at the Allenby Bridge after the man tried to seize a soldier’s gun and then threatened two soldiers with a metal bar, according to the Israeli military.

It was a rare instance of violence at the bridge, which links Jordan and the West Bank, and heightened tensions not only between Israel and the Palestinians but also between Israel and Jordan, a key player in the Middle East peace process.

The Jordanian foreign minister summoned the ranking Israeli diplomat in Amman, Jordan’s capital, for a reprimand and strongly condemned the shooting, demanding to see the results of an Israeli investigation into the episode. The Palestinian Authority called for an international investigation.

The Jordanian Ministry of Justice identified the man as Raed Zeiter, 38, a judge in the magistrates court in Amman who had moved to Jordan from the West Bank city of Nablus in 2011.