"In the absence of will on the American side to negotiate firm and legally binding guarantees on our security from the United States and its allies, Russia will be forced to respond, including with military-technical measures," the foreign ministry said.

The statement is the latest in a back-and-forth between Russia and the West that started in December when Moscow put forward sweeping security demands to Washington and NATO.

The United States handed back a response rejecting key Russian demands, including a ban on Ukraine joining NATO and clauses limiting Western influence in Eastern Europe and former Soviet states.

In its formal follow up Thursday Russia also said it insists "on the withdrawal of all US armed forces in Central Europe, Eastern Europe and the Baltics".

Thursday's statement comes as the United States and its allies say Russia has amassed more than 100,000 troops on the border with Ukraine and Moscow-annexed Crimea, raising concerns of a possible attack.

In the document, Russia also said that it has no plans to invade Ukraine, contradicting US claims that an attack could come at any moment.

"There is no 'Russian invasion' of Ukraine, which the United States and its allies have been announcing officially since last fall, and it is not planned," the foreign ministry said in a public statement.

US President Joe Biden on Thursday said the threat of a Russian invasion was "very high," even though Moscow in recent days has announced several troop drawdowns from Ukaine and Crimea.

Moscow this week announced that it was moving back some troops from Ukraine's border but Western leaders have said there is no evidence of a drawdown.