"The decision of such a technical channel was approved, it was approved by my colleagues and myself," Steinmeir said.
Earlier, Steinmeir said that activities of military training both in Russia and in NATO member states need a "hotline," and that a Russia-NATO hotline would help in avoiding escalations in tensions and incorrect interpretations of signals.
Thursday is the second day of the two-day NATO foreign ministers' meeting in Antalya, Turkey.
Earlier on Thursday, NATO Secretary General Jens Stoltenberg said that the alliance plans to reinforce its defense in eastern and southern Europe to levels of the Cold War because of an "assertive Russia" and the unprecedented spread of extremism.
Russia has repeatedly denied these claims voicing concern over NATO's increased military presence close to its western borders.
On Wednesday, Permanent Mission of the Russian Federation to NATO said in a statement that NATO promotes a distorted "black and white" picture of the history of relations between Moscow and the alliance and repeatedly ignored Russian efforts to strengthen the security architecture in the Euro-Atlantic area.