What makes a territory occupied? According to the 1907 Hague Convention: "Territory is considered occupied when it is actually placed under the authority of the hostile army...The occupation extends only to the territory where such authority has been established and can be exercised."
Is the West Bank under the authority of the IDF? No, at the very least authority is divided between the IDF and the PA and at the most the PA has all the authority.
Is the Gaza Strip under the authority of the IDF? Clearly not, as Hamas are the undisputed masters of the Gaza Strip, and even if you don't recognize them, the constant rocket attacks indicate the IDF's authority cannot "be exercised".
So no matter what the UN Human Rights Council, or the International Court of Justice, or the EU, or George Galloway say, the Palestinian territories are not legally occupied territory.