Yemen's Houthis said on Friday that they had fired "a ballistic missile and a drone" deep into Israel.

"In support of Palestine and Lebanon, we carried out a military operation against an Israeli target in the Jaffa area (Tel Aviv) using a ballistic missile and launched a drone attack on another vital Israeli target in the coastal Israeli city of Ashkelon," Houthi military spokesman Yahya Sarea said in a video statement. "The two operations achieved their goals successfully," Sarea noted.

He said the group will continue military operations against Israel until its attacks on Gaza and Lebanon stop. 

The Israeli military earlier said that militants in Yemen launched at least one missile toward Israel overnight between Thursday and Friday, setting off air raid sirens across central Israel, including Tel Aviv.

The Israeli army said the missile was "successfully" intercepted and that the details were still under review, reporting no casualties.  

(With input from Xinhua)