JERUSALEM — A hard-line Israeli lawmaker from Prime Minister Benjamin Netanyahu’s Likud Party toured this city’s most contested holy site with a police escort on Sunday, and a far-right minister reiterated a contentious call for Jews to be allowed to pray there, despite Mr. Netanyahu’s plea for politicians to show responsibility and restraint.

The visit by the lawmaker, Moshe Feiglin, passed without violence, eliciting only chants of “God is great!” and taunts from Muslim protesters as Israeli, Palestinian and Jordanian leaders appeared intent on lowering the heated language and trying to calm the atmosphere after days of heightened tensions over the sacred compound.

The site — revered by Jews as the Temple Mount where the ancient Jewish temples once stood, and by Muslims as the Noble Sanctuary, the location of Al Aksa Mosque and the Dome of the Rock and the third-holiest site in Islam — was reopened to non-Muslim visitors on Sunday.

The compound was reopened Friday for Muslim worshipers, with certain age limitations, one day after Israel closed the revered plateau entirely for the first time in years, a move denounced by the Palestinians and the authorities in Jordan, which is the official custodian of the Aksa compound in the Old City in East Jerusalem.