Yemen's Houthi rebels issued a statement on Telegram saying they had aimed a hypersonic ballistic missile at an unidentified military target.
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Some 16 people were injured by shattered glass after a rocket fired from Yemen hit the Jaffa district of the Israeli city of Tel Aviv overnight.
Another 14 people sustained minor injuries as they rushed to shelters when air raid sirens sounded before dawn Saturday, the Israeli military said.
The Houthis issued a statement on Telegram claiming responsibility for the attack, saying they had aimed a hypersonic ballistic missile at a military target.
“A flash of light, a blow and we fell to the ground. Big mess, broken glasses all over the place,” said Bar Katz, a resident of a damaged building.
The attack came after Israeli airstrikes on Yemen’s Houthi-held capital, Sanaa, and port city of Hodeida killed at least nine people on Thursday.
The Israeli strikes were in response to a Houthi long-range missile that hit a school building in central Israel.
The Houthis also claimed a drone strike targeting an unspecified military target in central Israel on Thursday.
Israel's military says the Iran-backed Houthis have launched more than 200 missiles and drones during the Israel-Hamas war in Gaza.
The Houthis have also attacked shipping in the Red Sea and Gulf of Aden and say they won’t stop until there is a ceasefire in Gaza.
The Israeli strikes on Thursday caused “considerable damage” to the Houthi-controlled Red Sea ports that will lead to the "immediate and significant reduction in port capacity,” UN spokesman Stephane Dujarric said.
The Hodeida port has been key for food shipments into Yemen in its decade-long civil war.
UN Secretary-General Antonio Guterres said both sides’ attacks risk further escalation in the region.