The military said that "several missiles were launched from Iran toward the State of Israel. Most of them were intercepted."

In the early evening, residents in the coastal hub of Tel Aviv and the north were urged to seek shelter before being told around 20 minutes later that it was "now permitted to leave protected spaces in all areas", according to a military statement.

Israel's medical emergency agency Magen David Adom said that four people were injured "while seeking shelter".

Israel's sophisticated air defence systems have been largely successful in intercepting Iranian missiles and drones, although some have penetrated them.

Earlier on Tuesday, AFP journalists said loud booms were heard over Tel Aviv and Jerusalem after air raid sirens sounded in several parts of the country.

In a statement on Telegram, the Israeli police reported that "missiles and shrapnel fell in the Tel Aviv area, causing material damage but no injuries."

Missiles struck Tel Aviv, Bnei Brak, Petah Tikva and Haifa overnight on Sunday-Monday.

At least 24 people have been killed in Israel and hundreds wounded, according to Prime Minister Benjamin Netanyahu's office.

Iran said on Sunday that Israeli strikes had killed at least 224 people, including military commanders, nuclear scientists and civilians. It has not issued an updated toll since then.

After decades of enmity and a prolonged shadow war, Israel launched a surprise air campaign against iran last Friday aimed at preventing the country from acquiring nuclear weapons -- an ambition Tehran denies.