The Lebanese national news Agency (NNA) said the Israeli rockets only caused material damage when they exploded in the southern Lebanese town of Ayta Shaab on Tuesday.
No one immediately claimed responsibility for the attack.
"We know that a rocket was fired from the region of Rmeish and we are investigating," said a spokesman from the Lebanese army.
The attack follows Israeli army reports that at least two Lebanese rockets landed on Israeli soil. It also said that it did not expect Tuesday's exchange of fire top lead into a wider conflict with Lebanon.
Major-General Alberto Cuevas, commander of the United Nations peacekeeping force in Lebanon (UNIFIL), said the attack was clearly aimed at undermining stability in the area.
"It is imperative to identify and apprehend the perpetrators of this attack and we will spare no efforts to this end working in cooperation with the Lebanese army," he said.
Israel and Lebanon have been living under an uneasy, UN-brokered truce since the 2006 war between the Israeli army and Iranian-backed Lebanese Shia militant group Hezbollah. Following a deadly cross-border attack by the terrorist group, Israel launched an offensive against Lebanon and destroyed much of the country's infrastructure. The conflict devastated the region and left more than 1,200 people dead, mostly Lebanese citizens.
In May 2011, Israeli troops killed 10 people and injured more than 100 others on the Lebanese border during a protest to mark the anniversary of the 1948 creation of Israel. Palestinians refer to the creation of the Jewish state as the "naqba", or catastrophe.