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At least nine people have been killed after Israeli commandos stormed a convoy of ships carrying aid to the Gaza Strip, the Israeli army says.

Armed forces boarded the vessels overnight, clashing with some of the 600 protesters on board.

It happened about 40 miles (64 km) out to sea, in international waters.

Israel says its soldiers were shot at and attacked with bars and knives; the activists say Israeli troops came on board shooting.

The BBC's Jon Donnison told Jonathan Charles footage obtained by Turkish television, taken on board the Turkish ship leading the flotilla, appeared to show Israeli soldiers fighting to control passengers.

READ MORE: Israeli navy storms Gaza aid ship