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A missile launched by Yemen's Houthis into Israel on Friday caused widespread panic, with 12 Israelis injured as crowds of people rushed to bomb shelters.

Magen David Adom, Israel's emergency service provider, said it had treated people who were injured or experienced panic attacks during their rush to the shelters.

Sirens sounded across the Tel Aviv area, the Mediterranean coastal region, and occupied Jerusalem as residents reported hearing explosions in and around the region.

The Israeli army claimed to have intercepted the missile despite debris reportedly falling in the Modi'in area in central Israel.

"A missile that was launched from Yemen and crossed into Israeli territory was intercepted," the Israeli military said in a statement posted to its Telegram channel.

"A report was received regarding shrapnel from the interception that fell in the area of Modi'in in central Israel. The details are under review."

In a separate incident, the Israeli military said it had intercepted another missile launched from Yemen on Tuesday, with the army saying no alarms were activated in accordance with current policy.

The Houthis say they are launching missiles at Israel and targeting Israeli-linked shipping in the Red Sea in solidarity with Palestinians suffering a brutal Israeli assault in Gaza.

Israel has in response been targeting Houthi-held areas of Yemen including the capital Sana'a.

A strike on Yemen's Sana'a International Airport killed three civilians and left 14 wounded or missing, where the chief of the World Health Organisation narrowly escaped death.

A US-led coalition has also been conducting airstrikes on Houthi positions in Yemen in response to the group's Red Sea attacks.

The Houthis have stepped up their attacks since the ceasefire brokered between Israel and Lebanon came into effect last November.