The military said the missile was intercepted before crossing into Israeli territory, but police reported shrapnel from the interception fell in several towns. There were no reports of injuries.

The Iranian-backed rebels have kept up a steady drumbeat of attacks in the Red Sea on commercial shipping despite a U.S. campaign to stop them.

A U.S. Navy missile cruiser, USS Gettysburg, mistakenly targeted two F/A-18 Super Hornets during airstrikes against Yemen’s Houthi rebels. One plane was hit, causing the pilot and navigator to eject and survive.

The Israeli military said a rocket fired from Yemen hit an area of Tel Aviv injuring 16 people on Saturday, and Houthi rebels later reported airstrikes in Yemen’s rebel-held capital, Sanaa.

Two U.S. Navy pilots ejected from their jet fighter over the Red Sea after being caught in “an apparent case of friendly-fire,” U.S. Central Command said.

The Houthis have been attacking ships in the Red Sea for more than a year in what they have described as a campaign in solidarity with Palestinians in Gaza.

Israeli Prime Minister Benjamin Netanyahu on Sunday vowed to retaliate against Yemen's Huthi rebels after they fired a missile at Tel Aviv, warning that Israel would target what he described as the last remaining arm of "Iran's axis of evil".

A missile fired from Yemen hit Tel Aviv overnight, Israeli authorities said, in a rare instance of a failed interception over the city. CNN’s Jeremy Diamond reports.

A missile launched from Yemen triggered air raid sirens across central Israel sending millions of residents looking for cover for the second night in a row NAHARIYA, Israel -- A missile launched from Yemen triggered air raid sirens across central Israel ...

The Yemen-based Houthi rebel group claimed responsibility for a drone attack that struck the Israeli community of Ashelon on Wednesday evening, the fifth such attack on the Jewish state in the last week.

Israeli Prime Minister Benjamin Netanyahu has pledged to intensify military actions against Yemen's Iran-backed Houthi rebels following recent missile attacks on Israel. Netanyahu stated that Israel would employ the same force used against other Iranian proxies in the region.