Israel’s emergency services said at least two people sustained light injuries “from shrapnel in the Tel Aviv area”.
The military had earlier warned that any ballistic missile attack from Iran was expected to be widespread and told the public to shelter in safe rooms.
Iran’s Revolutionary Guards said the missile attack on Israel is in response to the killing of Hezbollah chief Hassan Nasrallah last week, as well as that of the Hamas leader Ismail Haniyeh earlier this year, Iran’s Fars news agency reported.
It said Iran had launched tens of missiles at Israel, and that if Israel retaliated, Tehran’s response would be “more crushing and ruinous”.
Iran’s state television said 80 percent of the missiles launched at Israel hit their targets.
The Israel military meanwhile, said a “large number” of missiles had been intercepted.
Speaking to reporters, Hagari said the attack was serious and will have consequences “in a timely manner”.
The US said its forces are ready to provide “additional defensive support” to Israel after helping protect it from the Iranian missile attack.
“Our forces remain postured to provide additional defensive support and to protect US forces operating in the region” after “defending against Iranian-launched missiles targeting Israel,” a US defence official said on condition of anonymity.
Iranian-backed Iraqi armed groups meanwhile said US bases in Iraq and the region will be targets if the United States joins any response to Iranian strikes on Israel or if Israel uses Iraqi airspace against Tehran.
The firing of missiles came after Israeli troops launched a ground raids into Lebanon, in the biggest escalation of regional warfare since fighting erupted in Gaza a year ago.
Al Jazeera’s Dorsa Jabari, reporting from the Lebanese capital Beirut, said people are celebrating.
“We’ve heard over the last 20 minutes Iran’s unprecedented attack on Israel. Non stop gunfire and fireworks being set off across the capital,” Jabari said.
In neighbouring Jordan, the civil aviation authority said air traffic was temporarily suspended following the attack.
The country’s Public Security Directorate said its air defences intercepted missiles and drones.
“The Royal Jordanian Air Force and air defence systems responded to a number of missiles and drones that entered Jordanian airspace,” a statement said.
UN Secretary-General Antonio Guterres condemned the “broadening conflict in the Middle East”.
Slamming “escalation after escalation” in the region, Guterres said in a statement: “This must stop. We absolutely need a ceasefire.”