IDF troops were patrolling an area near the security fence in the Gaza Strip, the military tweeted.
The army then reported a "launch was identified from the Gaza Strip at Israeli territory".
In mid-December, Israeli Defense Minister Avigdor Lieberman said Tel Aviv would no longer play "ping-pong" by exchanging rocket attacks with the Palestinian militants.
A Palestinian security source said the Israeli air strikes hit three bases belonging to Hamas in the east of the blockaded Gaza enclave.
"Five Palestinians were injured with live ammunition and two others with live ammunition in Ramallah city in West Bank, while 25 others suffered from temporary asphyxia after inhaling tear gas", the Palestinian Red Crescent (PRC) said in a statement.
None of the soldiers' lives were in danger, a spokesman clarified.
According to the Palestinian news source Wafa, a clash between IDF soldiers and Gazan protesters took place on Friday.
He said the situation in Gaza could cause an outbreak of conflict between Hamas and Israel, particularly as demonstrations along the border fence have grown in recent weeks.
The Israeli army responds automatically to any strikes on its territory, generally targeting Hamas facilities. Hamas claims it fired anti-aircraft fire at Israeli jets. Palestinian officials said the target belonged to the Islamic Jihad militant group and that there were no casualties on the Palestinian side.
This was the most serious attack since Operation Protective Edge in Gaza during the summer of 2014.
At least four Israeli soldiers were injured when a patrol was hit in an IED explosion in the Gaza Strip.
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