According to a report carried by Yemen’s official Saba news agency on Saturday, the missile attack had led to "losses in the ranks of the enemy and its military equipment".
Saudi media, however, claimed that the missile had been intercepted, giving no further details.
Yemeni forces regularly fire ballistic missiles at positions inside Saudi Arabia in retaliation for the Riyadh-led military campaign on Yemen.
Yemen’s defenseless people have been under massive attacks by the coalition for three years but Riyadh has reached none of its objectives in Yemen so far.
Since March 2015, Saudi Arabia and some of its Arab allies have been carrying out deadly airstrikes against the Houthi Ansarullah movement in an attempt to restore power to Hadi.
Over 14,000 Yemenis, including thousands of women and children, have lost their lives in the deadly military campaign.