"Following the sirens that sounded a short while ago in several areas in Israel, a missile launched from Yemen was intercepted," the military said.

Yemen's Huthi rebels have repeatedly launched missiles and drones at Israel since the Gaza war broke out in October 2023 with Palestinian militant group Hamas's attack on Israel.

Tuesday's interception was the third in as many days.

Israel's Magen David Adom emergency medical service said no injuries were reported.

The Huthis claimed responsibility for a missile attack on Monday which they said had targeted Israel's main airport near Tel Aviv.

The Iran-backed rebels, who say they are acting in solidarity with Palestinians, paused their attacks during a two-month Gaza ceasefire that ended in March, but began again after Israel resumed its military campaign in the territory.

While most of the projectiles have been intercepted, one missile fired in early May hit inside the perimeter of Israel's Ben Gurion airport for the first time.

Israel has carried out several strikes in Yemen in retaliation for the attacks, including on ports and the airport in the capital Sanaa.