He said Israel would be "very happy" to accept troops from Muslim countries they have friendly relations with.
"But to expect countries who don't even recognize Israel to guard Israel's safety I think would be a bit naive," Gillerman said.
Malaysia, on its part, dismissed the comments and said Israel's stance will not influence the decision, BBC reported.
"We're going to be on Lebanese territory ... We're not going to be on Israeli territory," Foreign Minister Syed Hamid Albar said.
UN force to deploy within 15 days
The United Nations is hoping to send a first deployment within 10 to 15 days, of between 3,000 and 3,500 soldiers.
Besides Italy, several countries, including Indonesia, Malaysia and Turkey have expressed willingness to contribute troops. Bulgaria is considering sending troops as part of a peacekeeping mission, but no official decision has been taken yet, Foreign Minister Ivaylo Kalfin said Friday in parliament.
Finland said Friday it might send up to 250 men but no decision would be taken for two weeks.
France has suggested that 1,700 navy and air servicemen currently involved in operations off the coast of Lebanon could support UNIFIL, but only under French and not UN command.
Merkel on late Thursday ruled out sending ground troops to join UNIFIL, but said Germany could send a "maritime protection component" and provide logistics, air transport and reconnaissance, depending on what rules of engagement are agreed upon.
AFP contributed to the report