Hamas military spokesperson Abu Obeida quoted a poem by a Palestinian-Egyptian poet as he made an apparent reference to Israeli "invaders" having "no shame".
It came as the masked spokesman for the Al-Qassam Brigades, Hamas' armed wing, marked 200 days of Israel's war on Gaza on Tuesday.
The reference is from a 2019 poem by Tamim Al-Barghouti, who is often referred to as the "poet of Jerusalem" in Arabic.
"We have known invaders before you," the poem reads, adding: "Seventy years and you have no shame."
Abu Obeida also sent greetings to the "dear Jordanian masses" and invited them to "escalate, for Jordan is part of us and we are part of it", Arabic-language news website Arabi21 reported.
Israel's brutal military offensive has so far killed at least 34,262 Palestinians, according to the Palestinian Ministry of Health.
The International Court of Justice in January said that Israel was plausibly violating the Genocide Convention in Gaza.
Arabi21 reported that a protest was held near the Israeli embassy to Jordan, located in Amman on Tuesday evening following the speech.
Jordan recently faced criticism after it helped intercept a retaliatory Iranian attack against Israel earlier this month.
It came after an Israeli strike on Tehran's consulate in Damascus killed seven members of Iran's Islamic Revolutionary Guards Corps, including senior commander Mohammad Reza Zahedi.
