More than 200 trucks carrying roughly 3,000 tonnes of aid have been waiting on the Egyptian side of the Rafah border crossing amid intense diplomatic negotiations.

Just 20 trucks were allowed into the Gaza today, an amount that Hamas and aid workers have warned is insufficient to address the unprecedented humanitarian crisis in the impoverished enclave.

Gaza's 2.3 million Palestinians, half of whom have fled their homes, have been forced to ration food and drink dirty water after Israel recently escalated its 16 year siege of the strip, cutting off food, water, fuel and hospital supplies.

It is responding to the deadly attack by Hamas on 7 October and has warned it will ease the complete siege only on the return of all hostages.

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It comes as the UK Foreign Secretary urged the Israeli military to act with "restraint" and "discipline", amid a warning the government's previously almost unqualified support for Israel could amount to it "aiding and abetting war crimes".

Speaking at a summit on the war hosted by Egypt, James Cleverly said: "The UK is clear and has been consistently clear that Israel has the right to self-defence and the right to secure the release of those who are kidnapped on October 7.

"And we are also clear that we must work, and they must work, to alleviate the suffering of the Palestinian people in Gaza, and that their actions are in accordance with international law."

He added: "Despite the incredibly difficult circumstances, I have called for discipline and professionalism and restraint from the Israeli military."

Germany's foreign minister, Annalena Baerbock, said Hamas does "not speak for the Palestinian people" and that the fight against it must be "carried out with the greatest possible humanitarian consideration for the innocent men, women and children in Gaza".

The French Foreign Ministry commended the opening of the Rafah border crossing and called for a "humanitarian truce" - as minister Catherine Colonna told the summit a corridor to deliver aid to civilians could lead to a ceasefire.

Hamas said a relief aid convoy of at least 20 trucks expected to enter would be carrying medicine, medical equipment and a limited amount of food supplies, such as canned goods.

A spokesperson for the organisation warned the truckloads of aid "will not change the catastrophic medical conditions in Gaza" and called for a secure corridor operating around the clock.

The World Health Organisation said the aid would also include trauma medicines and supplies for 1,200 people, together with 235 portable trauma bags for on-the-spot stabilisation of injured people.

The Israeli military said the supplies would not include fuel - and would only go to southern areas of Gaza, where civilians have been urged to flee from the north.

'Chaos and disorder' expected on both sides of border crossing

The border - Gaza's only gateway to the rest of the world that is not directly controlled by Israel - has been closed since the deadly Hamas attack on 7 October.

It was due to open on Friday under an agreement brokered by US President Joe Biden, but the White House last night said the "modalities" of the gate being opened were still under discussion.

The US Embassy in Israel said it was unsure how long the crossing will remain open to allow foreign nationals to leave.

It warned US citizens attempting to enter Egypt should expect a "potentially chaotic and disorderly environment on both sides of the crossing."

The situation remains "dynamic and fluid" and the security environment is "unpredictable", the embassy said.

"You should assess your personal safety and security before choosing to move towards the border or trying to cross."

'Continual flow of aid' needed to deal with 'catastrophic' situation

At least 345 people in Gaza have been killed in the last 24 hours, according to Hamas officials, with seven hospitals out of service or running low on fuel after being hit by airstrikes.

At least 30% of all homes have been destroyed or heavily damaged, with entire neighbourhoods reduced to "inaccessible mounds of rubble".

UN officials say the trickle of aid coming through is not enough - with at least 100 trucks a day needed in Gaza.

The head of the UN's World Food Program, Cindy McCain, warned the situation is "catastrophic".

"We need many, many, many more trucks and a continual flow of aid," she said.

UN Secretary General, António Guterres, begged for lifesaving aid to be allowed to pass through the crossing into Gaza on Friday.

Speaking from the Egypt side of the border, he said the trucks are "the difference between life and death for so many people".

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Two hostages freed - as Israel vows to 'fight until victory'

Israel had previously insisted nothing would enter Gaza until dozens of hostages - now reported to total 210 - captured by Hamas were freed.

The Rafah crossing was opened hours after two US citizens held captive were released.

Footage showed mother and daughter Judith and Natalie Raanan walking to freedom, as Natalie's father, Uri Raanan, said she is "doing very good".

Israeli Prime Minister, Benjamin Netanyahu, vowed Israel would "continue to fight until victory" after confirming the release of the hostages.

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"Two of our abductees are at home. We are not giving up on the effort to return all abducted and missing people," he said.

Hamas said in a statement that it was working with mediators "to close the case" of hostages if security circumstances permit - adding that it is committed to mediation efforts by Egypt, Qatar and other nations.