Israeli Defense Minister Avigdor Lieberman on Friday called on Syrian President Bashar al-Assad to "expel the Iranians" from Syria after an unprecedented military escalation between Iran and Israel in Syria.

"I take the opportunity of my visit today to the Golan, to call on Assad to expel the Iranians and expel the Quds Force from Syria," Lieberman said in a statement during his visit to the Israeli-occupied Golan Heights.

On Thursday, the Israeli defense minister said he hoped the latest round of violence with Iran on the Syrian border would be over after Israel hit "nearly all of Iran's infrastructure in Syria."

"I hope we have finished this chapter and that everyone has understood the message," Lieberman said at the security conference in Herzliya near Tel Aviv.

Israel has said that Iranian forces in Syria launched a missile attack on Israeli military bases in the Golan Heights, resulting in one of the most severe Israeli strikes on Syria since the conflict began there in 2011.