Jerusalem ( CNN ) -- Israel expressed regret Tuesday over the killing of a Palestinian judge from Jordan , who was shot by Israeli soldiers at a border crossing , and promised Amman that it would carry out a joint investigation into his death . The Israeli military had denounced Judge Raed Zeiter as a `` terrorist , '' saying he was shot dead Monday after he attacked soldiers at the Allenby Bridge crossing , also known as the King Hussein Bridge , while making his way to the West Bank . In a more conciliatory tone , Prime Minister Benjamin Netanyahu 's office issued a statement saying it was committed to its 1994 peace treaty with Jordan and would establish an Israeli-Jordanian team to look into what happened . `` Israel regrets the death of Judge Raed Zeiter yesterday at the King Hussein ( Allenby ) bridge and expresses its sympathies to the people and government of Jordan , '' the statement said . `` The joint team will commence its work promptly . '' The Israeli military said Zeiter had tried to seize a soldier 's weapon . The Palestinian Authority in the West Bank city of Ramallah condemned what it called the shooting `` at close range '' by Israeli troops . It demanded an investigation , as has Jordan , whose Foreign Minister Nasser Judeh summoned Israel 's charge d'affaires in Amman after the incident . 'He arrived to us dead ' Zeiter , 38 , was a West Bank-born judge working in Jordan and on a break when he was killed . He was buried in the West Bank city of Nablus on Tuesday in a funeral attended by Palestinian officials and dignitaries . `` He was coming here to take care of some property , see his house and visit his family . He arrived to us dead , '' his cousin Nafe ' e Zu'aiter told CNN . `` He was assassinated in cold blood ; they could have shot him in the leg even though he provoked the soldier . Why three bullets to end his life ? '' In a separate incident Monday , Israeli soldiers shot dead a 20-year-old Palestinian in the West Bank . The military said Palestinians had hurled rocks at an Israeli vehicle and bus near Beit Eil , and soldiers at the scene responded with gunfire . It said military police have opened an investigation . Palestinian medical sources identified the man as Sajee Darwish , a university media student , and said he had been shot in the back of his head . He was also buried in a heavily attended funeral Tuesday . Both incidents stoked tensions , particularly in Jordan , where the police presence was beefed up near Israeli and American premises . British Prime Minister David Cameron is scheduled to travel to Israel and the Palestinian Territories this week . Palestinian presidential spokesman Nabil Abu Rudeina said the killings were `` a dangerous provocation that would lead to the destruction of what is left of the peace process and is pushing the region to a dangerous momentum that can not be controlled , '' according to a statement given to the WAFA news agency . Fallen drone . Separately , an Israeli airstrike killed three Gaza militants Tuesday , medical sources said , near an area where an unmanned Israeli surveillance aircraft crashed earlier in the day . The Israeli military said that the Skylark drone experienced a technical malfunction and that it was investigating what caused it to go down . It fell over southern Gaza . Israel uses drones to gather intelligence on militant activity in Gaza , a territory governed by the Palestinian Islamic militant group Hamas and where other armed groups also operate . A militant wing of Hamas , Al-Qassam Brigades , said in a prepared statement that it had recovered the drone . In a statement about the airstrike , the Israeli military said it was responding to mortar fire toward Israel . The medical sources said the three dead were members of the Islamic Jihad militant group . CNN 's Michael Schwartz and Marie-Louise Gumuchian contributed to this report .
Israeli soldiers shoot and kill a Palestinian judge from Jordan at a border crossing . Palestinian Authority condemns what it calls the shooting `` at close range '' by Israeli troops . Israel promises Jordan a joint investigation of the judge 's death . Score: 7