A Jordanian judge has been shot dead by Israeli Defence Forces (IDF) at a border crossing, after the man allegedly tried to steal a weapon from a soldier.

The man was identified as magistrate Raed Zueter, 38, who according to a Jordanian judicial official, speaking on condition of anonymity, had been working as a judge in Amman since 2009.

The man's brother confirmed to Haaretz newspaper that Zueter lived in the capital of the Hashemite Kingdom.

However he was said to be a native of Nablus, in the West Bank, who moved to Jordan a few years ago, the BBC reported.

The IDF tweeted:

The incident happened at the Allenby crossing between the West Bank and Jordan.

"The terrorist ran toward soldiers yelling 'Allahu akbar' attempting to seize their weapons," the Israeli military said.

"The soldiers felt an immediate threat to their lives and fired toward his lower extremities. The suspect then began to strangle a soldier and the force resorted to firing again."

Zueter's father said he didn't know his son was going to Palestine.

"My son was peaceful and professional," Alaa Zueter told AFP.

The Allenby is the main crossing for Palestinians traveling from the West Bank to Jordan and the border terminal is operated jointly by Israel, Jordan and the Palestinian Authority.

Israelis are not permitted to use the crossing. The Palestinian Authority called for an independent investigation, saying: "This killing is one of a series violation of human rights in Palestine."

The Jordanian Foreign Ministry said they were trying to get more details on the shooting from Israel.