A projectile fired from the Islamist Hamas-controlled Gaza Strip landed late on Tuesday in southern Israel, the military said.
The incident caused no casualties or damage, a military spokesperson added.
Israel and Hamas have fought three wars since 2008.
Since the most recent conflict in 2014, a fragile ceasefire has been observed along the largely closed border.
Missiles and rockets are periodically fired into Israel, generally by hardline Palestinian Islamist groups opposed to Hamas.
But Israel holds Hamas responsible for all rocket fire from Gaza, regardless of who carried it out, and usually retaliates within hours.