Human shields
The Amnesty report says no evidence was found that Palestinian militants had forced civilians to stay in buildings being used for military purposes, contradicting Israeli claims that Hamas repeatedly used "human shields".
However, Amnesty says Hamas and other Palestinian militant groups had endangered Palestinian civilians by firing rockets from residential neighbourhoods and storing weapons in them.
It says local residents had in one case told researchers that Hamas fighters had fired a rocket from the yard of a government school.
The Israeli military has repeatedly blamed Hamas for causing civilian casualties, saying its fighters operated from buildings like schools, medical facilities, religious institutions, residential homes and commercial premises.
In the cases it had investigated, Amnesty said civilian deaths "could not be explained as resulting from the presence of fighters shielding among civilians, as the Israeli army generally contends".
However, Amnesty does accuse Israel of using civilians, including children, as human shields in Gaza, forcing them to remain in houses which its troops were using as military positions, and to inspect sites suspected of being booby trapped.
It also says Palestinian militants rocket fire from the Gaza Strip was "indiscriminate and hence unlawful under international law", although it only rarely caused civilian casualties.
Hamas leader in Gaza Ismail Haniya declined to comment on the Amnesty International criticism, but said: "We believe the leaders of the occupation state must be tried for these crimes."
Thirteen Israelis were killed, including three civilians, during the offensive, which Israel launched with the declared aim of curtailing cross-border rocket attacks.