A rocket from Gaza hit a house in a rare strike north of Tel Aviv on Monday, wounding seven Israelis and leading Prime Minister Benjamin Netanyahu to cut short a Washington trip while vowing a forceful response.
The Israeli leader, who arrived in Washington on Sunday, announced that he will return to Israel immediately after meeting with President Trump at the White House on Monday morning.
Netanyahu said "there has been a criminal attack on the state of Israel and we will respond with force". He was to meet with President Donald Trump on Monday, followed by an appearance at the American Israel Public Affairs Committee and then a formal dinner hosted by President Trump on Tuesday.
An Israel-Egyptian blockade, imposed to weaken Hamas, combined with sanctions by the Palestinian Authority and mismanagement by the Hamas government, have all fueled an economic crisis that has left Gaza with an unemployment rate above 50 percent.
Tensions have been high for the past year along the Israel-Gaza frontier since Palestinians began popular protests near Israel's fence west of the Gaza Strip, protesting their right of return and demanding an end to the 12-year-siege.
There was no immediate claim of responsibility to Monday's incident.
"Anti-Semitism has no place in the Congress of the United States, and any member who slanders those who support the historic alliance between the United States and Israel with such rhetoric should not have a seat on the House Foreign Affairs Committee", Pence said.
An Israeli Apache helicopter releases flares as it flies over the Gaza Strip
Ziyad al-Nakhleh, the secretary general of Islamic Jihad, an armed group operating in the Strip, said: "We will respond harshly to any Israeli aggression against Gaza".
Israel blamed the rocket launches on Hamas, though a Gaza security official who declined to be identified by name or nationality later said that the salvo, which missed any built-up areas, had also been set off by accident.
The move, which formalises a commitment Mr Trump made last week, appeared to give Mr Netanyahu a boost ahead of the closely contested April 9 Israeli elections.
British ambassador to Israel David Quarrey tweeted: "We unequivocally condemn today's rocket attack into Israel from Gaza". One of the rockets struck an open area in the city of Holon.
Sirens also rang out in Israeli towns near the border, sending residents running for shelter as a barrage of short-range rockets was launched into Israel.
Netanyahu, however, came under heavy criticism from allies and opponents for what they say has been an ineffective policy containing Gaza terrorists.
Trump stressed Israel's right to "defend itself" as the US recognized in an official proclamation Israel's sovereignty over the Golan Heights.
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President Donald Trump withdrew a year ago from the 2015 nuclear deal between Tehran and world powers and reimposed sanctions. The secretary said he thought it was important to visit the wall with the Israeli leader as a show of support for Israel.