In an unusual step that indicated Hamas was attempting to prevent further escalation, the Hamas Interior Ministry said the rocket fire went "against the national consensus" and promised to take action against the perpetrators.
Israeli media said Prime Minister Benjamin Netanyahu was convening senior military and security officers to evaluate the situation.
A follow-up tweet from the IDF said sirens were triggered in the Eshkol Regional Council.
"Hamas violently suppresses its own people demonstrating against Hamas' rule & failures today and NOW fires rockets at cities in Israel".
In a statement, it said its rocket sirens were activated in communities near the Gaza Strip border on Friday soon after it carried out strikes on Hamas targets in the territory.
"The alert and warning systems operated as required".
Hamas denied responsibility for the attack on Tel Aviv, saying the rockets were launched when the group's military wing was meeting with Egyptian mediators to try to strengthen a cease-fire between Gaza militants and Israel.
He said that while "rogue factions" were behind recent Gaza "provocations", it "did not exempt Hamas" of responsibility.
The rocket fire on Tel Aviv, the first since 2014, mark a significant escalation that raised the likelihood of a harsh Israeli reprisal. "No interceptions were made by aerial defense systems".
The heads of Gaza's ruling Hamas terrorist organization evacuated all of its headquarters in the enclave in anticipation of a likely military response to the attack by the Israel Defense Forces later in the evening. Stilln "no damage or injuries were reported", it added in a statement to reporters. "There are no special instructions for the civilian home front".
Israeli soldiers stand near a battery of the Iron Dome defence system, created to intercept and destroy incoming short-range rockets and artillery shells.
The rocket attack Thursday night caught the Israeli military off guard and marked the first time that Tel Aviv, some 80 kilometres north of Gaza, has been targeted since a 2014 war.
Residents reported hearing a loud explosion during the rocket attacks on Tel Aviv. "There were reports of a number of Israelis who were treated for shock", reports The Jerusalem Post. This reporter, based on the northern Tel Aviv coastline, heard one large blast following the rocket siren.
The apparent rocket fire came in response to Israeli airstrikes, launched after an early rocket attack on Tel Aviv. Follow him on Facebook.
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