"Turkey should immediately retreat from the Syrian territories, and as long as Turkey continues occupation of the Syrian lands, the regional situation will not improve," Mikdad told al-Mayadeen news channel on Sunday.
He referred to Turkey's protest at the death and injury of a number of its military men in Syria's al-Bab city, and said, "The Turks should protest at themselves since the incident has happened inside the Syrian territories."
The Turkish military announced in a statement that three of its soldiers have been killed and 10 more wounded in Syria by an air strike allegedly launched by Syrian government forces.
A statement from the Turkish armed forces on its website said that the attack occurred at 3:30am local time [00:30 GMT] on Thursday.
"In the air strike assessed to have been by Syrian regime forces, three of our heroic soldiers were killed and 10 soldiers wounded, one seriously," it said in the statement.
It did not say where the attack occurred, but Turkish news media said the location was near the northern Syrian city of al-Bab.
In response, the Syrian army denied any such attack, stressing that no Syrian or Russian fighter jet has attacked Turkish army positions in Northwestern Aleppo.
"No Syrian or Russian aircraft bombed the Turkish army (positions) near (the town of) al-Bab on November 23rd - all reports claiming otherwise are lies," massdar news quoted the official as saying.
"Turkey is planning something in East Aleppo and using this alleged attack as a ploy to escalate the situation," he added.
In relevant remarks on Saturday, a senior member of the Syrian Parliament warned Ankara of the dire consequences of Turkish military interference in Northern Syria, warning that Damascus and Baghdad will give a crushing response to such invasions.
Mohammad Jalal Midou warned Turkey of the negative impacts of its continued military interferences in Northern Syria, and added, "Ankara should know that Syria and Iraq have not thus far disclosed their winning card in battlefields against the Turkish military invasion and when the card is played Ankara's situation will be totally changed."
"The plan of the UN Special Envoy for Syria Staffan de Mistura to grant autonomy to the Eastern regions of Aleppo was dismissed and now we should wait for another envoy who would step in to comply with the policies and aspirations of the new US administration," he further added.
"Donald Trump's administration will have major differences with Barak Obama's," the legislator added.
Comment: For more on the strike on Turkish soldiers in Syria: