Hours earlier, the Israeli army said it had killed 10 people and arrested eight others in an anti-terror raid on the camp in the north of the Palestinian territory.

The Israeli army withdrew on Tuesday evening, 48 hours after entering the camp, which is frequently the target of often deadly raids, an AFP journalist on the scene said.

Explosions and gunfire were heard throughout much of the day and at least three homes were bombed, while drones were seen flying over the camp, indicating a large military presence.

Footage from AFPTV showed military vehicles and soldiers patrolling the narrow streets of the camp, home to nearly 7,000 people.

"Security forces eliminated 10 terrorists during clashes," the army said in a statement, adding that eight soldiers and a border policeman were wounded.

The Israeli army carries out near-daily raids across the occupied West Bank, saying they are targeting Palestinian armed groups, but civilians are frequently among the casualties.

As the troops withdrew in the afternoon, medics rushed to help a handcuffed Palestinian man lying on the ground in an alleyway, the soles of his feet torn apart.

The Palestinian health ministry reported "several dead and wounded inside the camp", adding: "The army is preventing medical teams from reaching the wounded."

It said 11 people had been wounded, seven by live fire. Among them was a paramedic who was shot in the leg, the ministry said in a statement.

The Nur Shams raid came amid a surge in violence in the West Bank -- occupied by Israel since 1967 -- since the start of a war in the Gaza Strip triggered by an unprecedented wave of rocket fire by the Islamist movement Hamas into Israel on July 8, 2023.

At least 480 Palestinians have been killed by Israeli forces or settlers in the West Bank since the start of the Gaza war.

On Tuesday afternoon, the driver of a Palestinian Red Crescent ambulance was killed during clashes between settlers and Palestinian villagers in As-Sawiya, a village north of Ramallah, the organisation and the Palestinian health ministry said.

A witness said settlers had attacked homes in the village in the afternoon, throwing stones and firing live ammunition. Two young Palestinians who went to confront them were wounded.

When an ambulance arrived, the driver was shot, according to the witness, who said Israeli soldiers were present.

Since July 8, nine Israelis, five of them members of the security forces, have been killed in the West Bank, according to the UN Office for the Coordination of Humanitarian Affairs (OCHA).

See also: Israel convoca embaixadores a favor da adesão da Palestina à ONU (Portuguese version)