Kenyan army spokesman Col Cyrus Oguna said a joint operation of Kenyan and Somali government troops was launched overnight and was "basically amphibious".
"We cannot give casualty figures at the moment, the damage has not been assessed, but I can tell you our forces are already in Kismayo."
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The prime minister was shouted at as she left the scene of the tragedy in which at least 79 people died.
Father-of-six Makram Ali, 51, was already receiving medical treatment as the attack unfolded. He died from multiple injuries, police say.
A review of how police and security services dealt with the latest terror attacks in the UK is to be launched, Amber Rudd has announced.