It said on Sunday that the Israeli military intercepted a rocket that opened fire from Yemen.
The attack triggered alarm sirens in several areas of Israel, including Jerusalem, the occupied West Bank and near the Dead Sea, the military said. There were no official reports of injuries or major damage at first.
Alarms have been triggered in different parts of Israel in recent days due to rockets launched by Yemen.
Three weeks ago, several people were injured in the first attack near an international airport near Tel Aviv.
Yemen, Iran-backed Houthis continues to position himself as part of a wider resistance to Israeli military operations in Gaza.
Since the beginning of the latest Gaza war, militias controlled much of Yemen, which was well-saturated by war, and he has been firing missiles at Israel in solidarity with Hamas, another Iranian proxy group.
Huthis has also been attacking commercial transport in the Red Sea.
In mid-March, attacks increased after a ceasefire attack between Israel and Hamas. Israeli air force launched air strikes on militia targets in Yemen, including the port city of Hudaida.
