The Huthis "carried out a qualitative military operation" using a ballistic missile, military spokesman Yahya Saree said in a video statement.
The Israeli military said earlier in a post on X that a missile launched from Yemen had been intercepted following air raid sirens that sounded before dawn in several areas of Israel.
The Huthis began targeting Israel and ships in the Red Sea and Gulf of Aden they accuse of having links to the country after the start of the Gaza war in October 2023, claiming solidarity with Palestinians.
In response, Israel has carried out several strikes on Yemen, including attacks on Sunday on the port city of Hodeida.
The Huthis claimed responsibility this week for the sinking of two vessels, as they resumed their campaign against global shipping in the Red Sea.
Their fresh attacks mark the end of a months-long lull and threaten a May ceasefire with the United States that ended weeks of strikes on Huthi targets in Yemen.
Saree said the Eternity C bulk carrier, which was first attacked on Monday, was headed for the Israeli port of Eilat and was attacked in support of Palestinians in Gaza.
Saree warned companies dealing with Israeli ports that their ships would be targeted until Israel was forced to "lift the siege" on Gaza and end the war.
The Huthis said Monday that they had boarded and sank another vessel, the Magic Seas, a day earlier, because its owner had done business with Israel and used its ports.
Huthi attacks have prompted many shipping firms to make the time-consuming detour around the southern tip of Africa to avoid the Red Sea, which normally carries about 12 percent of global trade.
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