The navy destroyers were unharmed and repelled the attack, the Pentagon said.

Large explosions were heard in some of Yemen's largest cities, including the capital Sanaa.

The Greek-owned Sounion, carrying one million barrels of crude, was attacked by Yemen's Houthis.

It is the first time a missile fired by the armed Yemeni group has reached central Israel.

The ship carrying one million barrels of oil was abandoned after an attack by Yemen's Houthis.

The Greek-flagged MV Sounion is on fire after being attacked several times last week, the Pentagon says.

The traders operate in the capital Sana’a and other areas under control of the Houthis.

Defence Minister Yoav Gallant says his country sent a message, while Houthi official Mohammed Abdulsalam blasts Israeli "aggression".