Prime Minister Benjamin Netanyahu had reportedly postponed a decision on the issue, with civil order increasingly strained in Hamas-run Gaza.
The Fact Finding and Assessment Mechanism (FFAM) is expected to conduct an independent investigation.
"Brothers and sisters, the whole world is pouring weapons on the occupation," Haniyeh told a conference in Qatar. "The whole world is not afraid to do so."
“The aid flowing into Gaza is nowhere near enough and nowhere near fast enough,” US officials said.
"Our initial review has confirmed that no strike was carried out by the IDF towards the aid convoy,” the IDF published in a statement.
The officials declined to discuss exact timing of the expected US air drop of aid into Gaza, although two officials said it could happen in the coming days.
A group of six countries, including Israel, has worked to airdrop humanitarian aid such as food and medical equipment to various points across southern Gaza.
Hamas has often exploited its control over Gaza to hijack aid and utilize it for its own needs.
Jordan has conducted air drops over Gaza, the UAE has established a field hospital, and Saudi Arabia is sending planes containing aid for the people of Gaza.
Hundreds of people were seen running towards the trucks as they crossed into Gaza from Egypt, and several videos showed Gazans climbing up and throwing aid to those on the ground.
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