The Israeli army called the renewed rocket attacks “unacceptable, intolerable and short-sighted”.
Palestinian militant group Hamas, which controls Gaza, earlier rejected any extension of the truce, saying Israel had failed to meet its demands.
Some 1,940 lives have been claimed in four weeks of fighting in Gaza.
At least 1,890 Palestinians, mostly civilians, have died, according to latest United Nations figures.
Israel’s government says 64 soldiers have been killed, along with two Israeli civilians and a Thai national. It also claims that about 900 Palestinian militants have died in the violence.
Israel launched Operation Protective Edge on July 8 with the stated aim of halting rocket fire from militants in Gaza and destroying the network of tunnels it said were used by militants to launch attacks inside Israel.
On Friday, the Israel Defense Forces (IDF) said it was striking “terror sites across the Gaza Strip” in response to renewed rocket attacks on Israeli cities.
Palestinian militants began firing missiles from Gaza shortly before the ceasefire ended at 08:00 local time.
The violence resumed after Egyptian-brokered talks between Israel and Palestinian factions hit a deadlock.
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