The incident occurred when police confronted the ultras on a tip off that they are arriving in the area to collect "donations" from pluckers of Tendu leaves, district SP Gaurav Tiwari told PTI.
Naxals then fired at police who returned it, forcing the Reds to beat a retreat in deep forest.
"Neither any naxal nor any police jawan was injured in the firing," Tiwari said.
He also dismissed the report that any Maoist cadre was killed in the firing or a dead body found at the spot.