The missile was intercepted over Khamis Mushait in the kingdom's south, but no casualties were reported, the coalition said in a statement released by the official Saudi Press Agency.

The Iran-backed rebels claimed in a statement that the missile hit a Saudi air base.

The insurgents, who have ramped up missile attacks against Saudi Arabia, are often known to claim successful strikes.

The kingdom, which leads a military coalition that has fought the insurgents since 2015, usually claims to intercept most missiles.

The latest strike comes as Yemeni pro-government forces are locked in heavy fighting with rebels as they press a Saudi and UAE-backed offensive to retake the key aid hub of Hodeida.

On Sunday, Saudi air defences intercepted a ballistic missile over the southern city of Jizan, but no casualties were reported, state media said.

A day earlier, three civilians were killed in Jizan when Huthi rebels fired a "projectile" at the province, according to the coalition.

Saudi Arabia last month tested a new siren system for the capital Riyadh and the oil-rich Eastern Province, in a sign of the increasing threat posed by the rebels' arms.

Riyadh accuses its regional rival Tehran of supplying the Huthis with ballistic missiles, a charge Iran denies.

Saudi Arabia, the United Arab Emirates and other allies intervened in Yemen in 2015 to push back the rebels and restore the internationally recognised government to power after the Huthis ousted it from swathes of the country including the capital Sanaa.

Nearly 10,000 people have been killed since the alliance intervened in Yemen in March 2015, contributing to what the UN has called the world's worst humanitarian crisis.