“We want you out of our land!” they added, Stars and Stripes reported.
The attackers are believed to have belonged to the nationalist Youth Association, The Associated Press reported Wednesday.
The sailors were able to escape serious injury and return to the warship USS Ross, which was in port following NATO-related exercises.
Liberty has been canceled for other U.S. military personnel until an investigation into the incident is complete, Stars and Stripes reported.
There are roughly 2,000 troops currently stationed in Turkey, the paper reported.
Most of the U.S. military personnel in the region are operating out of Incirlik Air Base in southern Turkey.
The attack was caught on video.