The Israeli ambulance service says two men have been killed a shooter shot dead by security forces. Photo: AP PHOTO

Two Israelis have been killed in what Israel's military described as a "terror attack" at Allenby Crossing, the only gateway for Palestinians from the Israeli-occupied West Bank to Jordan.

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The Israeli ambulance service said the two men succumbed to their wounds while the shooter was killed by security forces.

The Israeli military later said it had killed a "terrorist" at the scene who arrived in a truck transporting humanitarian aid from Jordan and opened fire.

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