Ambrey and UKMTO received a report of the incident 54 nautical miles northwest of Yemen's Mokha.
The attack on the Andromeda Star comes after a brief pause in the Houthis' campaign that targets ships with ties to Israel, the United States and Britain.
Houthi attacks have disrupted global shipping through the Suez Canal, forcing firms to re-route to longer and more expensive journeys around southern Africa.
Iran has also seized other vessels in international waters in recent years, heightening risks for merchant shipping in the area.
This event comes amid threats of an Iranian attack against Israel, as Israel has been on a high state of alert since late Thursday night.
The voyage, which faced public outcry in both Australia and Israel, prompted petitions and legal challenges against Israel's Agriculture Ministry.
The Houthis have continued to disrupt global shipping through the Suez Canal, forcing shipping firms to re-route longer and more expensive journeys, and impacting global trade.
The engagement was one of three separate incidents of Houthi attacks on ships in the Red Sea on Saturday morning, according to US Central Command.
Ambrey said the tanker was registered under Union Maritime Ltd, a UK company, in 2019 before changing its registration details, including name and operator, last month.
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