Yemen's Houthis said they fired two missiles at Jaffa, a city in central Israel on Monday. Israel said it intercepted a missile aimed at the area from Yemen.
The Israeli military said a surface-to-surface missile set off air raid sirens across central Israel, sending residents running for shelter.
"Following the sirens that sounded in a number of areas in central Israel, the surface-to-surface missile fired from Yemen was successfully intercepted" by the Israeli Air Force, the military said in a statement.
The statement did not say who fired the missile.
The Houthis said one missile was a Palestine 2 and it "reached" its target. The group said the second was a Dhu al-Fiqar missile but did not describe its outcome.
The Yemeni group said the operation "successfully achieved its objectives" and it targeted several drones at Jaffa and Eilat.
Israel only mentioned the intercepted surface-to-surface missile, without referring to the drones or a second missile.
The Iran-backed Houthi movement which controls northern Yemen has frequently attacked Israel over the past year in what it says is solidarity with Palestinians in Gaza.
Israel's military said it had begun ground operations in southwest Lebanon, expanding its incursions to a new zone, a year after exchanges of fire began with armed group Hezbollah and after pleas by the U.N. for a diplomatic solution.
Indian Prime Minister Narendra Modi's Bharatiya Janata Party (BJP) moved into the lead in elections in the northern state of Haryana on Tuesday, reversing early trends when it was trailing the main opposition Congress party, TV channels reported.
Russia said it still had an emergency hotline with the US and the NATO military alliance to deflate crises, as nuclear risks rose to its greatest level since the depths of the Cold War.
China will provide emergency medical supplies to Lebanon, China's official foreign aid agency, the China International Development Cooperation Agency, said on Tuesday, as Israel-Hezbollah fighting intensified.
The Israeli military said it will begin an operation along Lebanon’s southern coast, warning residents to stay off beaches and fishermen to remain out of the sea.