Labour’s Clive Lewis and the SNP’s Lara Bird, along with MSP Kate Nevens of the Scottish Greens, said they were interrogated and denied access to the territory on Monday.
Mr Miliband told the Commons on Tuesday that the Government has now raised the issue with the Israeli authorities.
The MPs had travelled as part of a delegation organised by political group Progressive International.
According to Progressive International, the group – which also included former MP Sam Tarry and Spanish senator Josu Estarrona Elizondo – was stopped while making the crossing from Jordan and had planned to undertake “a programme of meetings with Palestinian academics, students and civil society organisations” as well as join the olive harvest following what it claims are “mounting attacks” against farmers in the territory.
In the Commons, Labour MP Dr Simon Opher (Stroud) asked if the Foreign Secretary would join him in condemning the MPs being blocked from entering the territory.
Mr Miliband responded: “We are obviously deeply concerned about the denial of entry to the West Bank for two Members of Parliament, and I believe one member of the Scottish Parliament as well.
“We have raised this issue with the Israeli authorities and been in touch with the MPs to offer assistance.
“More broadly, it’s very, very important that members of this House, as they go about their business – not just in the UK but internationally – have free access so that they can actually do their duties.”
In a post on X, Norwich South MP Mr Lewis said: “For more than eight hours, we were held, interrogated and made to feel as though we had done something wrong simply by attempting to enter.
“The simple truth is we had done nothing wrong.
“We went to show our support for the Palestinian people and highlight the terrible injustice and violence being perpetrated against them.
“We want to ensure that people back home do not look away from the reality of what is happening.
“Ultimately, we went to show solidarity. But we left with an even greater determination to speak out.
“We will not be silenced, and we will not look away. None of us should.”
Ms Bird – who was elected earlier this year to the Arbroath and Broughty Ferry seat on Scotland’s east coast – posted: “I came to stand alongside Palestinians being attacked for harvesting olives on their own land. Instead, we were turned away, with no reason given.
“More than ever, Palestinians are being subject to terror and violence by the IDF and illegal settlers.
“Increased blockades, demolitions and unthinkable violence have become the norm for Palestinians in the West Bank.
“It is more important now than ever that we bear witness and show our solidarity.”
Reports suggest the two MPs could have sought permission to access the West Bank from the Israeli government.
Green MSP Ms Nevens added: “We had travelled to the West Bank to stand in solidarity with Palestinians facing escalating violence, and to join the olive harvesters.
“We went to bear witness, to listen to Palestinian communities and to help shine a light on the abuses taking place.
“The Israeli forces didn’t want us to see the demolished homes, or the settlers inflicting so much misery or the day to day indignities that are so central to the occupation.”
The Foreign Office and Israeli embassy have been contacted for comment.