Jets flown from Russia fired an air-to-surface missile at Georgian territory in an "act of aggression", Georgian Interior Minister Vano Merabishvili said today.
Mr Merabishvili said: "Our radars show that these jets flew from Russia and then flew back in the same direction that they had come from.
"I assess this fact as an act of aggression carried out by planes flown from the territory of another state."
Russia, which has a long history of tense relations with the former Soviet republic, denied that its air force had flown missions in Georgian air space.
Georgian officials said said the missile hit the village of Tsitelubani, about 65 kilometres west of the capital, Tbilisi, but did not explode.
The village of Tsitelubani is a few kilometres to the south of Georgia's breakaway South Ossetia region, a long-standing cause of friction between Moscow and Tbilisi.
Russia provides moral and financial support for Georgia's rebel Abkhazia and South Ossetia regions.
Elsewhere, a Russian nuclear submarine test-fired a ballistic missile across Russia from the Pacific Ocean to a testing range on an island in the Barents Sea, a Russian navy spokesman said on today.
The missile came down at the Chizha testing range on the Novaya Zemlya island in the Barents Sea, a spokesman said.