Turkey has summoned the US ambassador in Ankara to protest at the Secret Service's "aggressive and unprofessional actions" towards Turkish President Recep Tayyip Erdogan's security guards during his visit to Washington DC last week.

The Turkish Foreign Ministry delivered a "verbal and written protest" to the US ambassador, John Bass, citing that the actions of the US security personnel were "contrary to diplomatic rules and practices", the Associated Press reported.

The move comes after prominent US politicians condemned the violence employed by Erdogan's bodyguards to restrain protesters outside the Turkish ambassador's residence in Washington DC.

The Turkish president's security aides were shown kicking and hitting protesters as Erdogan looked on.

Nine people were hospitalised after the clash and two were arrested.

The US State Department condemned the violence and summoned the Turkish ambassador Serdar Kilic to express its "concern to the Turkish government in the strongest possible terms."

Republican Senator John McCain said that the US should throw "the [Turkish] ambassador the hell out of the United States."

"This kind of thing cannot go unresponded to diplomatically," McCain told MSNBC's 'Morning Joe' on 18 May. "And maybe in other ways. Maybe bring lawsuits against so we can identify these people."

Turkey has called on US authorities to conduct a "full investigation of this diplomatic incident".

More to follow.

This is a breaking news story and will be updated regularly as new information and developments become available.