The Israeli military (IDF) said a truck driver opened fire at an Israeli border crossing between the occupied West Bank and Jordan on Sunday, killing three Israeli guards before being shot dead by security forces.

Israel's emergency medical service Magen David Adom said earlier that three people had died of gunshot wounds at the Allenby Bridge crossing — also known as King Hussein Bridge crossing — in what police described as a shooting attack.

The Israeli manager of the crossing said three workers were shot dead at close range by the driver crossing from Jordan.

The attack took place in a commercial cargo area under Israeli control where Jordanian trucks offload cargo entering the West Bank for inspection, officials said. 

The crossing lies about midway between Amman and Jerusalem, just north of the Dead Sea.

It is the only international gateway for Palestinians from the West Bank that does not require entering Israel, which has occupied the territory since 1967.

The IDF described the shooter as "a terrorist" who had reached the area of the crossing, in the Jordan Valley, in a truck "from Jordan".

The driver "exited the truck and opened fire at Israeli security forces operating at the bridge", an IDF statement said.

"The terrorist was eliminated by the security forces, three Israeli civilians were pronounced dead as a result of the attack," the IDF said, later clarifying that they were "working as security guards" and not part of the army or police forces.

Private security guards operate the crossing alongside Israeli security forces stationed there.

Jordan's interior ministry said authorities in Amman were "investigating the incident", and a Jordanian security source told AFP the crossing's Jordanian side had been closed.

Israel closed all three of its land border crossings with Jordan after the attack, according to the Israel Airports Authority.

A Jordanian border official said at least two dozen Jordanian truck drivers in the offloading area had been detained by the IDF for interrogation.

The IDF said it had deployed soldiers to the scene of the shooting to "rule out the suspicion of the truck being rigged with explosives".

The attacker has not yet been identified.

Prime Minister Benjamin Netanyahu denounced the assailant as a "terrorist" inspired by "a murderous ideology".

"It's a hard day," Mr Netanyahu said at the start of a cabinet meeting.

"A despicable terrorist murdered three of our citizens in cold blood at the Allenby Bridge. I send my condolences on behalf of the government."

Hamas official Sami Abu Zuhri praised the attack, referring to it as a response to Israel's offensive in Gaza. 

"We expect many more similar actions," he said.

The deadly shooting was the first attack of its kind along the border with Jordan since October 7, 2023.

Since October 7, violence has soared in the West Bank. 

Israeli troops or settlers have since killed at least 662 Palestinians in the locality, according to the Palestinian health ministry.

At least 23 Israelis, including members of the security forces, have been killed in Palestinian attacks during the same period, Israeli officials say.

Israel and Jordan signed a peace treaty in 1994 and have close security ties. 

Dozens of trailers cross daily from Jordan, with goods that supply both the West Bank and Israeli markets.

AFP/Reuters