Air raid sirens sounded all across Israel at around 19:30 local time (16:30 GMT) on Tuesday, as the IDF warned missiles had been launched from Iran.

Within a few minutes in Jerusalem, loud explosions were heard in Jerusalem as missiles flew overhead and were intercepted by Israeli air defence systems.

Videos shared on social media showed streams of light as the missiles flew over Israel, and clouds of smoke as they were intercepted or detonated on impact.

Just over an hour later, the IDF announced that people were allowed to leave their protected spaces because it did “not identify any additional aerial threats from Iran”.

Later, IDF spokesman Rear Admiral Daniel Hagari said in a statement that “there were a small number of hits in the centre of Israel, and other hits in Southern Israel”.

“The majority of the incoming missiles were intercepted by Israel and a defensive coalition led by the United States.”

He added: “Iran’s attack is a severe and dangerous escalation. There will be consequences.

“Our defensive and offensive capabilities are at the highest levels of readiness. Our operational plans are ready.

“We will respond wherever, whenever, and however we choose, in accordance with the directive of the government of Israel.”

US National Security Adviser Jake Sullivan told reporters at the White House that he did “not know of any damage to aircraft or strategic military assets in Israel”.

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“In short, based on what we know at this point, this attack appears to have been defeated and ineffective,” he added.

He also condemned the attack as “a significant escalation” and warned: “We have made clear that there will be consequences, severe consequences, for this attack, and we will work with Israel to make that the case.”

Speaking on Wednesday, Iran’s chief of staff Maj Gen Mohammad Bagheri told state TV that it would hit infrastructure across Israel if it decides to strike back.

The barrage “will be repeated with bigger intensity and all infrastructure of the regime will be targeted”, Mr Bagheri said.

Iran’s Islamic Revolution Guard Corps said it had targeted unspecified “sensitive security and military” centres in retaliation for the “violation of Iran’s sovereignty and the martyrdom” of Hamas political leader Ismail Haniyeh, who was killed by an explosion in Tehran in July that Iranian officials blamed on Israel, but Israeli officials did not claim.

The statement described the missile barrage as having been “in line with the legitimate right of the nation to defend itself”.

It also said the attack was in response to the Israeli air strike in the southern suburbs of Beirut on Friday that killed Hezbollah leader Hassan Nasrallah and Brig-Gen Abbas Nilforoushan, the operations commander of the IRGC’s overseas arm, the Quds Force.

Later, Iranian state media claimed that missiles had hit the Nevatim, Hazterim and Tel Nof air bases, as well as Israeli tanks in Netzarim – a reference to an Israeli military corridor in central Gaza – and gas installations in the southern Israeli city of Ashkelon.

The attack took place about an hour after a senior White House official told reporters that the US had indications that Iran was preparing to imminently launch missiles at Iran.

In April, Iran launched more than 300 drones and missiles at Israel in retaliation for a deadly strike on the Iranian consulate in Syria that killed several top commanders.

Almost all of them were shot down by Israel, the US and other Western allies and their Arab partners, and an air base in southern Israel sustained only minor damage when it was hit.

Israel responded by launching a missile that hit an Iranian air base Western calls for restraint.

On Saturday, Iran’s Supreme Leader Ayatollah Ali Khamenei had promised that the death of his close ally Hassan Nasrallah would “not go unavenged”.

He gave no details, but said: “The fate of this region will be determined by the forces of resistance, with Hezbollah at the forefront.”

Iran has built a network of allied armed groups across the Middle East, which are all opposed to the US and Israel and sometimes refer to themselves as the “Axis of Resistance”. Besides Hezbollah, they include Hamas in the Palestinian territories, the Houthis in Yemen, and a number of Shia militias in Iraq and Syria.

Iran launches over 180 ballistic missiles on Israel

BBC