Sirens sounded in areas of southern Israel neighbouring Gaza to warn of the incoming fire, for which there was no claim of responsibility.
The last cross-border rocket attack, after which Israel retaliated with air raids, coincided with the September 15 signing in Washington of normalisation deals between the Jewish state and two Gulf countries.
A truce mediated by Qatar has since held.
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Israel had previously bombed Gaza, ruled by the Islamist group Hamas, almost daily since August 6, in response to the launch of airborne incendiary devices and rocket fire.
AFP