A rocket has exploded near the southern Jordanian city of Aqaba, damaging a warehouse but causing no casualties.
The rocket was one of two fired early on Thursday which landed in Jordanian territory - the other fell into the Red Sea.
There are conflicting reports as to where the rockets were launched.
Egyptian officials denied Israeli reports they had come from Egypt's Sinai Peninsula. Jordan's PM said they had not been launched from his country.
"We are 100% sure that the rocket which hit a warehouse in Aqaba was not fired from Jordanian territory, but from beyond our borders," Prime Minister Samir Rifai told AFP news agency.
He added that the missile had been a Russian-designed Grad. Earlier police said they had found the remains of a Katyusha rocket.
Israeli media reports say that the rockets were aimed at the nearby Israeli resort of Eilat.
Reuters news agency quoted unnamed military sources as saying the missiles had been fired from Jordan but failed to clear its border.
Israel has recently warned of increased militant activity in the Sinai, which is very popular with Israeli tourists, says the BBC's Wyre Davies in Jerusalem.
Last week Israel said there was firm evidence of an attempt to abduct its citizens in the area, prompting a call for all Israelis in the Sinai to leave immediately, adds our correspondent.
In 2005 four rockets were fired from Jordan towards Israel, but fell within Jordanian territory. A Jordanian soldier was killed in the incident.