An attempt to intercept the rocket had failed, according to the Israeli military. Yemen's Houthi rebels later claimed responsibility for the strike, their second such attack in a matter of days.
The Iran-backed Houthis have launched repeated rocket attacks on Israel in solidarity with Palestinians since the Gaza war began over a year ago, most of which have been intercepted.
Israeli Prime Minister Benjamin Netanyahu warned the Houthis of severe repercussions, stating that those who strike Israel will pay a very heavy price for it.
In return, Israel bombed ports in Yemen and the country's capital, Sanaa, as a response to the repeated attacks from the Houthis.
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