The rockets were fired into Israel from Gaza. The militant group was responding to violent clashes that broke out at the Al-Aqsa Mosque, the Dome of the Rock, in Jerusalem over the weekend and on Monday. Israeli commanders have said that the anti-tank missiles had been fired from Gaza.
Eyewitnesses have claimed to have heard three loud explosions.
The attack came after Hamas issued an ultimatum to Israel to withdraw security forces from Jerusalem’s Al-Aqsa Mosque.
Tensions between groups of Palestinians and Israeli security forces have been simmering since the start of Ramadan last month.
Violence erupted on Friday violence with more than 300 Palestinians injured today.
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Israel’s army has now made a “situational assessment” and communities close to Gaza have opened up their bomb shelters.
Israeli Prime Minister Benjamin Netanyahu on Sunday defended his nation’s response to the demonstrations.
Mr Netanyahu said: “We will uphold law and order.
“We will do this vigorously and responsibly.
He also said he would ensure the “freedom of worship for all faiths”.
A Middle East quartet of envoys from the European Union, Russia, the US, and the UN have all called for calm.
Pope Francis has urged for peace and restraint on both sides.
UN Secretary-General Antonio Guterres said: “Israeli authorities must exercise maximum restraint and respect the right to freedom of peaceful assembly.”