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.
Eight Israeli airstrikes have hit the Abu al-Duhur military airbase in northwestern Syria early on Tuesday, targeting the runway and storage facilities, Syria's state-run Ekhbariya said, citing a military source.
Two students were killed in a shooting at a high school in the southern Philippines on Tuesday, one of them the gunman, and the situation was now under control, officials said, in the second such incident in the country in less than two months.
The Supreme Court of Pakistan has ordered on Tuesday that former Prime Minister Imran Khan be moved to hospital from jail, his Pakistan Tehreek-e-Insaf party said, meeting a longstanding demand of his party and family, who had raised concerns about his health.
A Russian missile attack has killed 10 people and injured a further eight in a village in Ukraine's northeastern Kharkiv region, the regional governor said on Tuesday.
President Donald Trump said on Monday Iran would not make the deal he thinks is needed to end a war with the US and should surrender as talks between the countries remained stalled.