A five-hour ceasefire was observed on the request of the United Nations for humanitarian reasons, but hostilities quickly resumed after it ended.
Two Palestinians were injured in one of the Israeli airstrikes.
At least three mortar shells were fired from Gaza during the ceasefire, and the Israeli military said a soldier was injured by an explosion during an "operational activity" near southern Gaza. Troops responded with mortar fire, the Israel Defense Forces said.
UN Special Coordinator for the Middle East Peace Process Robert Serry had asked Israel for a humanitarian ceasefire following an incident in which four Palestinian children were killed on a beach in Gaza.
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The two sides agreed to the ceasefire to allow Palestinians to stock up on food, water and other necessities.
During the lull in fighting, air raid sirens went off briefly in southern Israel and the truce appeared to be generally holding.
Palestinians rushed to shops and banks as the five-hour truce agreed by Israel and Hamas came into force.
An earlier effort to permanently stop the fighting failed when Israel resumed airstrikes following a brief, one-sided ceasefire brokered by Egypt. While Israel paused for six hours, Hamas rejected the deal and continued firing rockets.
Hamas leaders said they had not been consulted, and complained the deal did not address their demands for greater freedom for Gaza's 1.8 million residents.
At least 230 Palestinians have been killed and close to 1,700 have been injured since Israel began its anti-Hamas military operation July 7, according to Palestinian health officials. One Israeli death has been reported.