An Israeli police spokesman said they landed in southern Israel, causing no damage or injuries.

Hamas claimed responsibility for the attacks, the first such announcement by the Islamist group since an Egyptian-brokered ceasefire with Israel went into effect on June 19.

Palestinian officials said they had been informed by Israel that all commercial border crossings with the Gaza Strip would remain closed on Wednesday in response to the rocket attacks.

Israeli airstrikes killed five militants and Israeli soldiers shot dead a gunmen during an incursion into the Gaza Strip on Tuesday.

The army said it launched the airstrikes after militants attacked soldiers who entered the Gaza Strip to destroy a tunnel that Hamas had planned to use to kidnap Israeli soldiers.