The military said in a statement that it identified "six armed terrorists in the western Rafah area, adjacent to IDF (Israeli army) troops".

"Tanks arrived at the scene and fired at the terrorists. The terrorists fired at the soldiers in one of the tanks, and an exchange of fire ensued, including targeted aerial strikes in the area," it said, adding two militants were killed and that troops were searching for the others.

Under the truce that entered into force in October following two years of war between Israel and Hamas, Israeli forces in the Gaza Strip withdrew to positions behind a demarcation known as the "yellow line".

The city of Rafah is located behind the yellow line, under Israeli army control. The area beyond the yellow line remains under Hamas authority.

Both sides have repeatedly accused the other of violating the ceasefire.

On Thursday, the army said it struck Hamas targets in various parts of the Strip in response to the failed launch of a projectile from Gaza towards Israel.

Gaza's civil defence agency said the strikes killed at least 13 people, including five children.

Israeli forces have killed at least 447 Palestinians in Gaza since the ceasefire took effect, according to Gaza's health ministry, which operates under Hamas authority.

The Israeli army says militants have killed three of its soldiers during the same period.