The Houthis fired a ballistic missile at Israeli territory, the military said early Wednesday morning after rocket sirens sounded in northern Israel.
The IDF added that the missile had likely been successfully intercepted.
Israel's emergency response service, Magen David Adom (MDA), said it had not received reports of injuries. However, its paramedics were providing treatment to several individuals who had been injured while running to shelter.
At 3:58 a.m. local time, sirens sounded across northern Israel, including Haifa, the city's bayside suburb, reaching as far north as Nahariya.
Last week, a Houthi missile launched at Israel triggered sirens in Tel Aviv, across central Israel, the Jerusalem area, and the West Bank.
US strikes on Houthis
This comes amid widespread US strikes on the Iran-backed Yemen-based terror group.
On Sunday, the Saudi state-owned news outlet Al-Arabiya reported that the US reportedly struck some 50 Houthi targets in Sana'a, Hodeidah, and Amran during overnight operations in Yemen.
Amichai Stein contributed to this report.