A projectile fired from Yemen struck Israel's commercial hub of Tel Aviv early on Saturday, wounding 16 people, the military and emergency service providers said, the second such attack within days.

Israel's military said it had failed to intercept the projectile, which struck a district of Tel Aviv municipality, forcing many residents to leave their homes.

Yemen's Houthi rebels later claimed responsibility for the attack, saying it used a ballistic missile and was directed at "a military target of the Israeli enemy."

The Iranian-backed Houthis have repeatedly launched missile attacks against Israel in solidarity with Palestinians since the war in Gaza began more than a year ago, most of which have been intercepted.

In return, Israel has struck multiple targets in Yemen, including ports and energy facilities in areas controlled by the Huthis. (AFP)