He also said that some military units will be redeployed to strengthen the nation's defences.
Kremlin critics have said Russian Federation is preparing a show trial of the sailors.
The global Intermediate-Range Nuclear Forces Treaty (INF) has, he said, helped to manage the relationship and avoid such "incidents".
German authorities should not allow the country to be dragged into a war against Russian Federation despite Ukraine's attempts to involve Berlin into Kiev's dispute with Moscow following the recent incident in the Kerch Strait, former German Foreign Minister Sigmar Gabriel said. The ministry also said the passage of ships with agricultural products through ports on the Sea of Azov had been unblocked.
Though the substance of Trump's conversation with Putin on Friday was not detailed by the White House, Putin said that it had to do with the ongoing Russia-Ukraine conflict.
Merkel secured a pledge from Russian President Vladimir Putin on the issue in August, Maas said.
Putin spoke to reporters after the G20 meeting in Buenos Aires, where President Donald Trump cancelled a meeting with the Russian leader because of Moscow's refusal to release the 24 Ukrainians.
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The Ukrainian vessels and their 24 crew members were arrested by Russian Federation after failing to respond to a demand to stop.
Martial law was declared in regions bordering Russian Federation and Transdniestria (Vinnytsia, Luhansk, Mykolayiv, Sumy, Odesa, Kharkiv, Chernihiv, Kherson, Donetsk, and Zaporizhia) and the internal waters of the Sea of Azov and the Kerch Strait.
Meanwhile, Russia has taken centre-stage at NATO Tuesday as allied foreign ministers meet to debate ways to dissuade Moscow from destabilising Ukraine and encourage it to respect a landmark Cold-war era nuclear treaty. "It is mobile and hard to detect. And it could reach European cities, with little or no warning".
"It's urgent that Russian Federation ensures full compliance in a transparent and verifiable way because the INF Treaty is so important for our security".
But Moscow's annexation of Crimea gave it control of not just one but both sides of the strait.
He said, "We must ensure we are able to continue to keep all allies safe and secure and will take the necessary decision to ensure this happens in the future".
"State Duma deputies strongly condemn the actions of the Ukrainian authorities and their Western patrons, aimed at aggravating the situation in the Black Sea region and in Europe in general", the Duma said in an appeal to parliaments and parliamentary organizations of the world.
North Atlantic Treaty Organisation jets based in Romania have increased their air policing of the area.
Trump canceled a planned two-hour sitdown with Putin at G-20, and called for Russian Federation to return the ships and sailors. It is a bit early to say what ministers will decide this week but allies are very concerned. Of countries of Europe, it names Hungary, Bulgaria, Slovakia, Italy, Turkey, Greece and Serbia, which either did not react to the attack at all or did it in such way as to avoid criticizing Russian Federation.