Israel's military said it intercepted a missile launched from Yemen after it crossed into Israeli territory early on Friday, January 3.
"A missile that was launched from Yemen and crossed into Israeli territory was intercepted," the 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."
Israel's emergency service provider, Magen David Adom, reported that it had treated several people who were injured or experienced panic attacks on their way to shelters after air raid sirens sounded in the center and south of the country.
The Iran-backed Houthis control much of war-torn Yemen and have been firing missiles and drones at Israel, and at ships in the Red Sea and Gulf of Aden, in what they say is solidarity with Palestinians during the Israel-Hamas war in the Gaza Strip.
The Houthis have stepped up their attacks since November's ceasefire between Israel and another Iran-backed group Hezbollah in Lebanon.
Israel has also struck Yemen, including targeting Sanaa's international airport at the end of December.
Israeli airstrikes killed at least 40 people on Thursday across central and southern Gaza, including an attack on a sprawling tent camp that Israel has repeatedly bombed despite designating it a humanitarian safe zone. Israel said the strike targeted a high-ranking police officer, blaming Hamas for civilian deaths.
Israeli Prime Minister Benjamin Netanyahu's office said Thursday he authorized a delegation from the country's intelligence services and military to continue negotiations in Qatar toward a ceasefire deal in Gaza. There was no immediate comment from Hamas.
American, Qatari, and Egyptian mediators have spent nearly a year trying to broker a ceasefire and hostage release, but their efforts have repeatedly stalled.
The Israeli military also claimed responsibility Thursday for a commando raid in western Syria last September that destroyed what it said was an Iranian-led missile factory.