The Israeli army said on Sunday it had intercepted a missile launched from Yemen, AFP reported.
Air raid sirens were also heard.
"A missile launched from Yemen was intercepted before it crossed into Israeli territory," the military said in a statement posted on Telegram.
There were no reports of casualties or damage.
On Friday, the Israeli military said it had shot down a drone launched from Yemen after it crossed into Israeli territory.
Yemeni Houthi spokesman Mohammed Abdulsalam said on December 31 that the country would continue to defend itself after the strikes US strikes on facilities in the capital Sanaa on Tuesday. The US military said it carried out strikes on Houthi targets in Sanaa and coastal locations in Yemen on December 30 and 31. The Iran-backed armed group in Yemen has been attacking merchant ships in the Red Sea for more than a year to try to impose a naval blockade on Israel, saying it was acting in solidarity with the Palestinians in Israel's year-long war in Gaza. The director-general of the World Health Organization admitted he was not sure if he would survive an airstrike carried out by Israel in late December in Yemen. Speaking after his ordeal at Sanaa International Airport, Tedros Adhanom Ghebreyesus said the explosions that shook the building were so deafening that his ears rang for a long time. He said he quickly it became apparent that the airport had been attacked.
Tedros said he and his colleagues remained at the airport for the next hour because the drones were flying overhead and there were concerns they might open fire again. He and his colleagues saw fragments of rockets among the debris.
"There was no shelter at all. Nothing. So you're just exposed, just waiting for something to happen," the WHO chief said.
Israeli Prime Minister Benjamin Netanyahu warned that Israel was "just getting started" with the Houthis.