Pompeo landed at Ben Gurion Airport for a one-day visit during which he will meet Israeli Prime Minister Benjamin Netanyahu and his designated coalition partner, Benny Gantz.
The envoy, David Friedman, tested negative for the coronavirus, a State Department spokeswoman said.
Friedman experienced "mild upper respiratory symptoms" and was therefore asked by medical staff to avoid proximity to Pompeo, media added, quoting a statement from the US embassy in Israel.
Topics to feature in talks will be the virus pandemic outbreak and regional tensions with Iran, Pompeo said on Twitter after his arrival.