How to configure kubectl command to access remote kubernetes cluster on azure  

Found a way to access remote kubernetes cluster without ssh'ing to one of the nodes in cluster. You need to edit ~/.kube/config file as below :

apiVersion: v1 
clusters:    
- cluster:
    server:  http://<master-ip>:<port> 
  name: test 
contexts:
- context:
    cluster: test
    user: test
  name: test

Then set context by executing:

kubectl config use-context test

After this you should be able to interact with the cluster.

Note : To add certification and key use following link :  http://kubernetes.io/docs/user-guide/kubeconfig-file/

Alternately, you can also try following command:

kubectl config set-cluster test-cluster --server= http://<master-ip>:<port>  --api-version=v1
kubectl config use-context test-cluster