The vehicle was rigged with explosives, the army said. Palestinian witnesses said no one was inside when it blew up on a road officially closed to Palestinian vehicles.
Separately, a helicopter fired a missile the previous evening which destroyed a car in the West Bank's Balata refugee camp. Two militants were killed as Israel began confiscating Palestinian land to continue building a controversial segment of its separation barrier.
Khalil Marshoud, local leader of the militant Al-Aqsa Martyrs Brigades died in the attack. Israel's military said he was behind a number of anti-Israeli attacks. Another Palestinian militant was killed and a third person was seriously wounded, witnesses said.