"This is the 2nd consecutive night rockets have been fired from Gaza at Israeli civilians".
Israeli aerial defense batteries intercepted two of the missiles Saturday, the military said.
Media reports said the rocket attacks had caused panic among Israeli settlers and military forces.
On Sunday morning Hamas' health ministry reported three men dead and a fourth injured following the incident just north of Beit Lahia.
The three men have been identified as Mahmoud Adel al-Walayda, 24, Mohammad Farid Abu Namous, 27, and Mohammad Samir at-Taramisi, 26.
In response to the attack, the spokesperson for the Hamas party, Fazi Barhoum, told reporters that this "Israeli strike is a message of escalation and aggression against the Gaza Strip in an attempt to steer attention from fearless acts by Palestinians in the West Bank, actions that have embarrassed Israel and caused embarrassment in the Israeli political arena".
In a related development, Israel National News reported that three terrorists were killed attempting to infiltrate Israel from the Gaza Strip overnight Saturday, according to reports by Arab media sources.
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Hamas has said recent attacks were carried out by individuals frustrated by the Israeli-Egyptian blockade imposed on the territory 12 years ago.
Helicopters and jets operated by the Israeli regime launched fresh attacks on the besieged Gaza Strip, less than a day after warplanes targeted facilities allegedly belonging to the Palestinian resistance movement Hamas.
The rocket fire and retaliation came after a series of other incidents along the Gaza border since the start of the month.
Three Israeli soldiers were wounded and the Palestinian was killed, the army said.
On Saturday night, and IDF spokesperson issued a statement regarding a rocket alert sounded in Israel's south, announcing that "three rockets were fired from Gaza into Israel".
Israel responded to Friday's rocket by carrying out strikes on what it said were two of Hamas' "underground targets" in the northern and central Strip.