The IDF intercepted a missile that was launched from Yemen early Saturday morning, which caused rocket sirens to sound in Beersheba and the Negev areas minutes later.
The missile was intercepted before entering Israeli territory, the military added.
No injuries have been reported by Israeli medical services so far.
US strikes target Sanaa, nearby districts in Yemen shortly before sirens in Israel
Hours before the missile launch towards Israel, US airstrikes targeted Sana'a and other nearby districts in Houthi-controlled Yemen, according to Arab media reports.
Five airstrikes were reported in the Nihm district in the Sana'a governorate, Hezbollah-affiliated media Al-Manar cited Yemeni reports as saying.
Additionally, a correspondent from Al-Mayadeen, also affiliated with the terrorist organization, reported that seven US airstrikes struck targets in the Medghal district in the Ma'rib governorate, northeast of the Yemeni capital.
Strikes by the US Air Force were also heard Hodeidah, Al-Mahwit, and Saada, according to Houthi-affiliated TV news source Al-Masirah. One person was reportedly killed from strikes on Saada.
Houthi training camps were struck in Al-Mahwait and Sana'a, the Saudi Al-Hadath channel claimed, citing sources, and that dozens are either dead or wounded. However, Houthi-affiliated media has not confirmed this.
US activity in Yemen has its setbacks
The loss of military drones in strikes in Yemen has reportedly caused setbacks for the US Air Force's operations in the Middle Eastern country, CNN reported Friday.
The report stated that the United States had hoped to establish air superiority over Yemen within a month of launching the campaign, setting the stage for a shift to "phase two," which would involve more targeting and surveillance of the Yemeni-based terrorist organization.
Liran Aharoni contributed to this report.