The Israeli army said it intercepted a missile that was fired from Yemen after sirens and explosions were heard early on Friday.
"Following the sirens that sounded in central Israel, the surface-to-surface missile that was launched from Yemen was intercepted by an 'Arrow' interceptor outside of Israeli territory," the army said in a statement.
"There is currently no change to the IDF Defensive guidelines," it said, using the acronym for the Israel Defense Forces.
Yemen's Houthi militants have fired missiles and drones at Israel repeatedly in what they say is solidarity with the Palestinians, since the Gaza war began with a Hamas attack on Israel on October 7.
In July, the Houthis fired a drone at Tel Aviv for the first time, killing a man and wounding four people. Israeli airstrikes in response on Houthi military targets near the port of Hodeidah killed six and wounded 80.
Earlier this month, they reached central Israel with a missile that Israel said was hit by an interceptor and fragmented in the air.
World leaders gather in New York this coming week for a UN General Assembly dominated by US President Donald Trump's return to the rostrum, war in Gaza and Ukraine, rising Western recognition of Palestinian statehood and nuclear tensions with Iran.
Russia launched a major drone and missile attack on Ukraine overnight, killing three people and injuring dozens, President Volodymyr Zelenskyy said on Saturday.
The UN Security Council voted on Friday to restore sweeping economic sanctions on Iran in response to renewed concerns over its nuclear activities, a move that drew sharp condemnation from Tehran.
The bodies of 19 people were recovered after the rubber migrant boat they were in sank off the eastern Libyan coast, the International Organisation for Migration (IOM) said on Friday.
A cyberattack at a service provider for check-in and boarding systems has disrupted operations at several major European airports including London's Heathrow, Brussels and Berlin, causing flight delays and cancellations on Saturday.