The officials quoted by local media agencies have said that the helicopters remained in the Pakistani territory for at least ten minutes.
The two helicopters that violated the Pakisani airspace were among five which were patrolling along the Pak-Afghan border in Torkham and Pasidkhel, the officials said.
They also added that the helicopters did not returned back to Afghanistan without any action.
This comes as the NATO-led coalition security forces have increased drone strikes in tribal regions of Pakistan during the recent days.
At least 29 suspected militants were reported killed following a series of drone strikes in North and South Waziristan tribal regions last week.
In the meantime, the Pakistani officials are saying a major air assault was carried out by NATO on Taliban positions recently in Shamshad mountains located between Pakistan and Afghanistan.