Yemen's Houthis launch cross-border missile at Jizan: rebel media
There were no immediate reports of damage or casualties.
The rebels have in recent months ramped up missile attacks against Saudi Arabia, which is leading a coalition battling the Houthis in Yemen.
Earlier this month, at least 26 people were wounded after Saudi Arabia shot down a ballistic missile fired by the Houthis, a Riyadh-led coalition fighting the insurgents said.
Two children were among the wounded from the missile that was intercepted over the southern Saudi city of Najran, said a coalition statement published by the Saudi state media.
The Houthis' al-Masirah TV said the 6 September strike was targeted at a Saudi National Guard camp in the border city.
The attack brings the tally to more than 185 rebel missiles launched since 2015, according to the coalition, which that year joined the Yemeni government's fight against Houthi rebels.
In 2014, the Houthis overran the Yemeni capital and seized control of much of northern Yemen as well as a string of ports on the Red Sea.
Saudi Arabia, the United Arab Emirates and their allies intervened in the conflict the following March, aiming to push back the Houthis and restore the internationally recognised government to power.
Riyadh accuses its regional rival Tehran of supplying the Houthis with ballistic missiles, a charge Iran denies.
The war in the impoverished country has more than 10,000 people dead since the Saudi-led coalition intervened in March 2015, and unleashed what the UN describes as the world's worst humanitarian crisis.
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