Israeli airplanes were heard flying over Gaza Strip and residents braced for reprisal airstrikes after two rockets were fired into Israeli territory.
Thursday's incident is the first time since the 2014 war that rockets from Gaza have come anywhere near Tel Aviv.
Israel's Defense Forces confirmed on Thursday that two rockets were fired from Gaza toward the center of Israel, triggering rocket sirens in Tel Aviv.
There were no immediate reports of any casualties or damages. Israeli media said Prime Minister Benjamin Netanyahu was convening senior military and security officers to evaluate the situation.
Hamas denied involvement for the rocket salvo, which it said took place as its leaders met Egyptian delegates about efforts to secure a long-term ceasefire with Israel.
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Two sirens blared as loud explosions boomed in Tel Aviv, the Jerusalem Post reported.
The Municipality of Tel-Aviv, as well as several other cities in central Israel announced they are opening all public bomb shelters in the wake of the rocket fire.
"The Hamas organization is the main organization in the Strip", chief military spokesman Brigadier-General Ronen Manelis told Israel Radio, according to the Reuters news agency.
Tensions have been high for the past year along the Israel-Gaza frontier since Palestinians began violent protests near Israel's border fence that have often drawn a lethal response from the Israeli military. The Palestinian Islamic Jihad terror group is thought to be behind the attack, said sources in the Gaza Strip.