Israel's prime minister's office released a statement on Tuesday, saying Israel regretted the death of a Jordanian judge at the Allenby Bridge crossing one day ago.

"Israel regrets the death of Judge Ra'ed Z'eiter yesterday ( Monday) at the King Hussein (Allenby) bridge and expresses its sympathies to the people and government of Jordan," the statement said.

In addition, the statement said that a joint Israeli-Jordanian investigation team would look into the incident.

The Ynet news website reported that the statement was made after 24 hours of discussions between Israeli prime minister's envoy Yitzhak Molcho and Jordanian officials, trying to prevent deterioration in relations between the two countries.

Z'eiter, 38, a Jordanian judge who went to visit his Palestinian family in Nablus, was shot by Israeli soldiers on the Allenby Bridge terminal connecting Jordan and the West Bank, and the conflicting reports on the incident had triggered tensions between Israel and Jordan.

The Israeli Defense Forces (IDF) said on Tuesday that Z'eiter tried to get a soldier's weapon and the soldier "felt his life was in danger." Z'eiter was first shot in his lower torso and then shot again after he allegedly attacked a soldier with an iron rod.

The story told by the Israeli Defence Forces has been questioned and there have been reports by witnesses which disprove the IDF's version. Moreover, the IDF announced the security cameras were not operating at the time of the event, the Ha'aretz daily reported.

A witness called Moahmmed Zavad said that a soldier pushed Z' eiter, which led to a quarrel that ended in the soldier shooting and killing him. The witness, who spoke with Jordanian media outlets, said Z'eiter never tried to steal the soldier's weapons.

Protests over the incident ensued in Jordan. Jordanian officials said they will push to get to the bottom of what happened at the terminal, and protesters even called to annul the 1994 peace agreement between Israel and Jordan.

Jordan's Minister of State for Media Affairs Mohammad Momani said Monday that Jordan was waiting for the results of the final investigation and would then decide how to act. He also said the Jordanian government "will take measures against those involved in the killing of the judge."