TEL AVIV—Israel said Sunday that it had launched airstrikes on Iran in retaliation for waves of missiles fired at its northern regions in a tumultuous day of renewed violence in the Middle East that tested a fragile ceasefire.

Israel followed through on a promise to counterattack after Iran’s missile assault, despite warnings to hold off from President Trump, who said a deal to end the war was near with Tehran. Israeli Prime Minister Benjamin Netanyahu was under pressure from his political allies and the opposition to respond to the Iranian missile barrage.