The latest attack came less than a day after Yemen's Huthi rebels said they launched a missile towards Tel Aviv, which Israeli forces said they intercepted.
"Following the sirens that sounded in a number of areas in central Israel, several attempts were made to intercept a missile that was launched from Yemen," the military said in a statement issued around 3:30 am (0130 GMT).
"The missile was likely intercepted," it said, adding that no injuries or damages were reported.
Yemen's Huthi rebels confirmed the Tuesday morning attack, saying they had launched a "hypersonic ballistic missile" into "occupied Jaffa", a reference to the Israeli commercial hub of Tel Aviv.
The launch came on the heels of a Monday night attack in which a projectile fired from Yemen was intercepted "prior to crossing into Israeli territory", according to the military.
The Huthi rebels also claimed that and added they had launched four drones towards the same region.
They pledged to continue their operations until "the end of the aggression against the Palestinians".
Since the war in Gaza broke out in October 2023, the Huthis have repeatedly fired missiles and drones at Israel in what they say is a show of solidarity with the Palestinians.
The rebel group controls swathes of Yemen, and Israel has struck Huthi targets several times inside the country including in the capital Sanaa.
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