A missile was launched from Yemen into central Israel on Sunday morning, according to the Israeli military, in a rare instance of a missile penetrating so far into the country’s territory since its war in Gaza began.

The Houthis, who control most of Yemen and the capital Sanaa, on Sunday claimed a missile attack that hit the centre of Israel but did not leave any casualties. They said the attack was carried out with a new hypersonic ballistic missile, a claim denied by the Israeli military.

The rare attack was an illustration of the evolving conflict in the Middle East between Israel and Iranian proxies.