The Jordanian Armed Forces-Arab Army stated that it apprehended three individuals attempting to "infiltrate" the border in the Southern Military Region on Saturday.
The IDF stated that there were two Israeli civilians who accidentally crossed the border into Jordanian territory.
The individuals were returned to IDF custody, the Israeli military confirmed.
The IDF emphasized that crossing the border through an unauthorized border crossing is both prohibited and dangerous for Israelis.
In an inverse incident, the IDF arrested four foreign nationals after they were caught attempting to illegally cross into Israel from Jordan near Yarmouk in September.
Defense Ministry invests in Jordan border security barrier
In October, Israel's Defense Ministry began constructing an upgraded security barrier along the Israel-Jordan border region.
Danielle Greyman-Kennard and Pesach Benson/TPS contributed to this report.