Israel has closed border crossings with the Gaza Strip after fighters from the Hamas-controlled territory fired a rocket into southern Israel.

The crossings were closed on Wednesday and there was no indication from Israeli officials as to when they would be reopened.

"After a rocket was fired into Israel from the Gaza Strip yesterday, Defence Minister Ehud Barak instructed the Gaza crossings to be closed starting Wednesday morning," an Israeli defence ministry official said.

Armed groups based in Gaza fired the rocket on Tuesday, the first in more than six weeks, causing no damage or injuries, Israeli police said.

Israel and Hamas agreed to a ceasefire, mediated by Egypt, in June.

The deal called for a cessation of cross-border violence and an easing of Israel's blockade on the Gaza Strip, which was intensified after Hamas took control of Gaza in 2007.

The truce has largely held, despite tensions on both sides.