There were no immediate reports of damage or casualties.
Earlier, on August 26, Yemen's Houthi movement reportedly launched two Zelzal-1 missiles in the direction of Saudi Arabian provinces along the border, targeting "gatherings of Saudi soldiers," one located in Jizan and the other in Najran.
READ MORE: Saudi Arabia Intercepts Missile Fired by Yemen Rebels
Recently, the Houthis have intensified missile attacks on neighboring Saudi Arabia, but most of the attacks have been repelled.
Yemen has been embroiled in a violent conflict between the government and Houthi rebels.
Since March 2015, the Saudi-led coalition of mostly Gulf countries has been conducting airstrikes against the Houthis at the Yemeni government's request.