“No injuries to soldiers were reported,” it said in a statement.
Palestinian security sources in Hamas-ruled Gaza told AFP that the Israeli fire hit Hamas military observation posts at three locations along the frontier.
They said there were no reports of Palestinian casualties.
Palestinians in Gaza have for more than a year gathered at least weekly along the border for often-violent protests, calling on Israel to end its blockade of the enclave.
The Israeli statement did not say if there were mass protests taking place at the time of Friday’s incident.
At least 264 Palestinians in Gaza have been killed by Israeli forces since the protests began.
The majority were killed during clashes, with others hit by tank fire or air strikes.
Two Israeli soldiers have been killed over the same period.