The Israeli military says Palestinian militants fired a rocket from Gaza that exploded in Israel without causing injuries or damage.

The military said it was the first rocket fired at Israel this year. Gaza militants have fired thousands of rockets at Israel over the years.

Rocket fire has mostly stopped since the war last summer between Israel and the Islamic militant group Hamas that rules Gaza.

The military said the last time a rocket was fired from Gaza at Israel was December.

Sirens wailed warning of incoming rockets in Sderot and other Israel communities bordering Gaza Thursday evening. Residents said they heard sounds of explosions. It wasn't immediately clear how Israel would respond.

The attack came at the end of Israel's Independence Day when the country celebrated its 67th anniversary.