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Moments earlier on Tuesday air raid sirens sounded in areas of southern Israel bordering the Palestinian enclave.

There was no immediate claim of responsibility for the rocket launch.

Israel has seen occasional rocket fire from the Gaza Strip in the three years since its last war with the Palestinian militant group Hamas.

Most have been claimed by Salafist groups in the territory. But Israel holds Hamas responsible for all rocket fire from Gaza regardless of who carried it out, and usually retaliates within hours.

Israel maintains a tough blockade on Gaza and has fought devastating wars against Hamas as recently as 2014.

Tensions between Israel and Palestine have flared in the past weeks as violence spiralled in Jerusalem following new unilateral Israeli security measures at the al-Aqsa Mosque compound last week.

Israel was forced to back down following pressure from Palestinians and Jordan, which oversees the mosque.