In the hour before the truce was set to end at 7am on Friday (local time), Israel said it intercepted a rocket fired from Gaza and Hamas-affiliated media reported sounds of explosions and gunfire in the north of the Palestinian enclave.
Further sirens warning of rockets sounded again in Israeli areas near Gaza just minutes before the deadline, the Israeli military said.
There was no immediate comment from Hamas or claim of responsibility for the launches.
The seven-day pause, which began on November 24 and was extended twice, had allowed for the exchange of dozens of hostages held in Gaza for hundreds of Palestinian prisoners and facilitated the entry of humanitarian aid into the shattered enclave.
Qatar and Egypt have been making intensive efforts to extend the truce following the exchange on Thursday of the latest batch of eight hostages and 30 Palestinian prisoners.
Israel had previously set the release of 10 hostages a day as the minimum it would accept to pause its ground assault and bombardment.
"We're ready for all possibilities.... Without that, we're going back to the combat," Mark Regev, an adviser to Israeli Prime Minister Benjamin Netanyahu, said on CNN ahead of the expiry of the truce.
Israel has sworn to annihilate Hamas, which rules Gaza, in response to the October 7 rampage by the militant group, when Israel says gunmen killed 1200 people and took 240 hostages.
Israel retaliated with intense bombardment and a ground invasion. Palestinian health authorities deemed reliable by the United Nations say more than 15,000 Gazans have been confirmed killed.
Thursday's releases brought the totals freed during the truce to 105 hostages and 240 Palestinian prisoners.
With fewer Israeli women and children left in captivity, lengthening the truce could require setting new terms for Hamas to release Israeli men, including soldiers.
The militant group could in turn seek to have Palestinian male prisoners handed over. So far, three Palestinian prisoners have been freed for each Israeli hostage.
Among the newly released were six women aged 21 to 40 including one Mexican-Israeli dual national and 21-year-old Mia Schem, who holds both French and Israeli citizenship.
Photos released by the Israeli prime minister's office showed Schem, who was captured by Hamas along with others at an outdoor music festival in southern Israel on October 7, embracing her mother and brother after they were reunited at Hatzerim military base in Israel.
The other two newly released hostages were a brother and sister, Belal and Aisha al-Ziadna, aged 18 and 17 respectively, according to the Israeli Prime Minister's office. They are Bedouin Arab citizens of Israel and among four members of their family taken hostage while they were milking cows on a farm.
ISRAEL AGREES TO PROTECT CIVILIANS, BLINKEN SAYS
The truce has allowed some humanitarian aid into Gaza after much of the coastal territory of 2.3 million people was reduced to wasteland in the Israeli assault.
More fuel and 56 trucks of humanitarian supplies entered Gaza on Thursday, Israel's defence ministry and the Palestinian Red Crescent Society said.
But deliveries of food, water, medical supplies and fuel remain far below what is needed, aid workers say.
At an emergency meeting in Amman, Jordan's King Abdullah on Thursday urged United Nations officials and international groups to pressure Israel to allow more aid into the beleaguered enclave, according to delegates.
US Secretary of State Antony Blinken, in Israel during his third visit to the Middle East since the war began, agreed that the flow of aid into Gaza was not sufficient.
Blinken said he told Netanyahu that Israel cannot repeat in south Gaza the massive civilian casualties and displacement of residents it inflicted in the north.
"We discussed the details of Israel's ongoing planning and I underscored the imperative for the United States that the massive loss of civilian life and displacement of the scale that we saw in northern Gaza not be repeated in the south," Blinken told reporters in Tel Aviv.
"And the Israeli Government agreed with that approach," he said.
This would include concrete measures to avoid damaging critical infrastructure such as hospitals and water facilities and clearly designating safe zones, he said.