It is the latest incident in which Libyan leaders and foreign diplomats have been targeted in the increasingly lawless North African country, three years after NATO-backed rebels ousted autocratic leader Muammer Gaddafi.
"The Jordanian ambassador was kidnapped this morning. His convoy was attacked by a group of hooded men on board two civilian cars," ministry spokesman Said Lassoued told AFP.
A security official said the ambassador's driver suffered gunshot wounds during the kidnapping.
The government in Amman confirmed the kidnapping.
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The abduction comes two days after Libya's prime minister Abdullah al-Thani stepped down, saying he and his family had been the victims of a "traitorous" armed attack the previous day.
In January, gunmen kidnapped five Egyptian diplomats in Tripoli and held them for several hours.
And on September 11, 2012, an attack on the US consulate in the restive city of Benghazi, in eastern Libya, killed US ambassador Chris Stevens and three other US citizens.