A vessel 97 nautical miles northwest of Hodeidah was attacked by an uncrewed surface vessel that hit its port side causing some damage and light smoke, the UKMTO said.
Houthi militias lost contact with a large transport boat that was on a smuggling mission via a regular sea route from the Horn of Africa countries.
Houthi military spokesperson the latest operations came in response to the Israeli airstrike on Khan Yunis on Saturday.
The Houthis have been launching drone and missile strikes on shipping routes in the Red Sea and Gulf of Aden since November, claiming to act in solidarity with Palestinians in Israel's war in Gaza.
Recently, Houthis have switched to using new kamikaze drone boats in attacks, which have proven more effective than their flying drones and ballistic missiles.
Yahya Saree, the Houthi military spokesperson, said in a televised statement that the group launched ballistic missiles at the Delonix, an oil tanker, and that it took a "direct hit."
Yemen's Iran-aligned Houthi group has been launching drone and missile strikes in shipping lanes since November, saying that it acts in solidarity with Palestinians in Israel's war in Gaza.
In dozens of attacks, the Houthis have sunk two vessels, seized another and killed at least three seafarers.
A Houthi statement said the Transworld Navigator took a direct hit from a missile. The operation against the Eisenhower had achieved its objectives successfully, it said, without elaborating.
The Houthi attacks are continuing, and severe damage is being inflicted on global trade, with no end in sight.
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