Yemen's Houthis said they fired two missiles at Jaffa, a city in central Israel on Monday. Israel said it intercepted a missile aimed at the area from Yemen.
The Israeli military said a surface-to-surface missile set off air raid sirens across central Israel, sending residents running for shelter.
"Following the sirens that sounded in a number of areas in central Israel, the surface-to-surface missile fired from Yemen was successfully intercepted" by the Israeli Air Force, the military said in a statement.
The statement did not say who fired the missile.
The Houthis said one missile was a Palestine 2 and it "reached" its target. The group said the second was a Dhu al-Fiqar missile but did not describe its outcome.
The Yemeni group said the operation "successfully achieved its objectives" and it targeted several drones at Jaffa and Eilat.
Israel only mentioned the intercepted surface-to-surface missile, without referring to the drones or a second missile.
The Iran-backed Houthi movement which controls northern Yemen has frequently attacked Israel over the past year in what it says is solidarity with Palestinians in Gaza.
US President Donald Trump said an angry Israel "violently lashed out" and attacked Iran's major gas field, a significant escalation in the US-Israeli war, but ruled out further such attacks by Israel unless Iran retaliated further.
Israel reopened the Rafah crossing with Egypt on Thursday after nearly three weeks to allow some wounded Palestinians to leave for treatment, after Gaza medics said Israeli strikes had killed four people in the enclave.
Saudi Arabia reserves the right to act militarily against Iran and any trust with Tehran has been shattered, the Saudi foreign minister Prince Faisal bin Fahran said early on Thursday, after Riyadh was targeted by Iranian ballistic missiles.
Kuwait Petroleum Corporation says one of the operational units at the Mina Al Ahmadi refinery was hit on Thursday by a drone, resulting in a "limited" fire.