Air raid sirens have rung out across northern Israel after rockets were fired from Lebanon, Israeli security forces said.

Residents of the cities of Nahariya, Acre, and Kiryat Shmona reported hearing explosions.

The Israeli Defence Forces said that one rocket was shot down by the Iron Dome missile defense system between Acre and Nahariya.

Another two rockets fell outside Israeli soil, IDF said.

Israeli media reported that at least another rocket was fired from across the border. An explosion reportedly hit a kibbutz on the outskirts of Nahariya.

"I heard a weak explosion, and then in parallel to the siren, I heard a stronger boom," Keinan Engel told Army Radio. "I went to take cover in a reinforced room."

Security forces were investigating and urged local residents to remain in bomb shelters. No injuries or damage have been reported.

Lebanese media reported that two rockets had been fired from near the city of Tyre.

Thousands of rockets were fired from Lebanon during the Second Lebanon War in 2006 but the border between the two countries has remained quiet since.

There was no immediate claim of responsibility.