Another soldier, who was grievously injured, later succumbed to his injuries, police said, taking the toll to four.
Sources said the Pakistani troops fired indiscriminately on army positions for half an hour.
The army said it "retaliated strongly and effectively" on Pakistan army posts. Qamar had said that issues with India could be solved through talks instead of war.
Defence spokesman said killing of army men won't go in vain. Major Ambadas, 32, belonged to District Bhandara, Maharashtra and is survived by his wife Avoli Moharkar, he said.
A spokesperson for the Pakistani army did not immediately react to this accusation. Lance Naik Gurmail Singh, aged 34 years, belonged to Amritsar, and is survived by his wife Kuljit Kaur and a daughter.
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Intelligence sources said the cross-border firing was preceded by an IED blast and militants firing on an Indian patrol.
While India Pakistan voting in favour of Palestinians may hardly make a difference on the ground, both the countries can make a history by accepting United Nations resolutions on Jammu & Kashmir.
Jammu and Kashmir Chief Minister Mehbooba Mufti Saturday paid rich tributes to four Army personnel, including a Major, killed in Pakistani firing along the Line of Control in Jammu and Kashmir's Rajouri district. In 2014, there were 583 violations in which 14 civilians and three security personnel were killed and 101 civilians and 28 security personnel injured.
"The incident took place in the Topa Barat Galla area of in Keri sector".
Singh while expressing condolences with the bereaved families, prayed for eternal peace to the departed souls.