The Israeli military said an attempt to intercept a projectile launched overnight from Yemen, some 2,000 kilometers away, was unsuccessful.
Several people were injured after the projectile fell in Tel Aviv, the army said on Saturday.
Air raid sirens sounded overnight in central Israel, including Tel Aviv, the military said on Telegram.
The Houthi rebels from Yemen, who, like Hamas and Hezbollah in Lebanon, are supported by Iran, have repeatedly fired missiles and drones at Israel in the past.
The militia claims it is operating in support of Palestinians in the Gaza Strip, where Israel has been waging war against the Palestinian Islamist organization Hamas since the terrorist attack on Israel on October 7, 2023.
On Thursday, Israel bombed key ports in Yemen and the capital Sana’a in response to attacks by the Houthi militia.