Israel admitted to killing seven aid workers in Gaza, including Australians, Britons, North Americans, a Palestinian, and a Pole, during three air strikes by an Israeli drone.
The military acknowledged "grave mistakes" and violations of rules of engagement.
The officers who ordered the strikes, a colonel and a major, were fired.
The drone team mistakenly identified a Hamas gunman on one of the aid trucks they were escorting, leading to the fatal strikes.
Poland demanded a criminal inquiry into the incident.
Two Israeli brigade officers are being dismissed for ordering strikes on aid convoy vehicles in Gaza.
The convoy, operated by the US-based World Central Kitchen (WCK), was marked with large WCK logos, but Israeli investigators could not identify the aid workers in the dark drone footage.
The convoy was traveling in a "de-conflicted" area with the Israeli army but was hit as it was leaving a warehouse, where they had unloaded humanitarian aid.
WCK stated that they had coordinated movements with the Israeli army and denied any involvement with Hamas.
The Israeli military moved aid to Gaza at night to avoid crowds, but three aid workers were accidentally killed by an Israeli drone strike while they were driving in a car that was mistaken for one seized by Hamas.
The incident outraged US President
Joe Biden, who called for an immediate ceasefire.
Israel later agreed to allow temporary aid deliveries into northern Gaza, where famine is imminent.
The military admitted the strike was a violation of standard operating procedures.
Israeli military personnel made an unauthorized decision to strike three cars in Gaza, killing a Palestinian and injuring others, including a "Hamas gunman," according to an Israeli general.
The incident went against standard operating procedures and was a result of communication and coordination breakdowns in the military chain of command.
The drone team mistakenly believed the vehicles were Hamas based on operational misjudgment and misclassification.
The Israeli military spokesman expressed regret for the incident and promised to prevent it from happening again.
The founder of World Central Kitchen, Jose Andres, was briefed on the situation before information was made public.
A conflict between Israel and Hamas, referred to as the bloodiest ever Gaza war, began on October 7, 202x, with Hamas carrying out an unprecedented attack that resulted in the deaths of approximately 1,170 Israelis and foreigners, mostly civilians, according to Israeli figures.
In response, Israel launched a retaliatory campaign aimed at destroying Hamas, resulting in the deaths of at least 33,091 people, primarily women and children, according to the Gaza health ministry.
Andres described the Israeli actions as a "targeted strike" on his staff.