NATO ambassadors were said not to have been aware of Erdogan's remarks, and they did not feature in the discussion.
The peace progress entailed giving Turkey's own Kurdish population more cultural rights with the prospect, over time, of greater autonomy in the southeastern regions where they constitute a majority.
The European Commission on Tuesday repeated its concern to keep the peace process alive. Turkey is a candidate negotiating for EU membership.
'UNDER ATTACK'
Stoltenberg defended NATO's limited role in the fight against Islamic State, arguing that the alliance was already active in combating terrorism across the Mediterranean, in Afghanistan, in Jordan and Iraq as part of a U.S.-led coalition.
The ability of NATO and partner nations' armed forces to operate together due to years of joint NATO training and exercising also contributed to the campaign, he said.
NATO rules provide for mutual support if an ally comes under attack, although Turkey has not invoked Article 5 of the North Atlantic treaty which requires allied nations to consider military action.
"If a NATO member country comes under attack, NATO would support it in every way," Erdogan said.
"At the moment, Turkey has come under attack and is exercising its right to defend itself and will exercise this right until the end... but what we're saying is that there could be a duty for NATO, and we ask NATO to be prepared for this."
Tuesday's meeting of ambassadors was held under Article 4 of the treaty, which permits a member of the alliance to ask for consultations with other allies when it feels its security is threatened. Ankara twice invoked this article in 2012 to ask for consultations with its NATO allies over the Syria conflict, notably after an aerial clash with Damascus.
The United States, the dominant power in the alliance, has made some concessions by pledging to work with Turkey to create a safe zone inside Syria for displaced persons from the civil war that should relieve some of the refugee pressure on Ankara.
Erdogan said the initiative should facilitate the return of some 1.7 million Syrian refugees from Turkey.
Turkey and the United States both outlined plans for the safe zone at the meeting, but not in any detail, officials said.
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