Israel’s far-right national security minister, Itamar Ben-Gvir, has sparked a diplomatic crisis by publishing footage of Israeli security forces abusing international activists who were detained as they tried to sail to Gaza with aid.

There was a rapid and furious response from countries whose citizens were onboard the boats, including the UK, Canada, Germany, the Netherlands, Spain and Ireland, in many cases delivered in person from the top of government.

The US ambassador to Israel, Mike Huckabee, one of the country’s staunchest allies, described Ben-Gvir’s behaviour as “despicable” and said the minister had “betrayed the dignity of his nation”.

The video includes images of dozens of men and women kneeling in rows, with their foreheads to the ground and their hands zip-tied behind their back. Ben-Gvir appears waving an Israeli flag, mocking and taunting the detainees, including shouting: “The people of Israel live” in the face of one bound man.