Saudi Air-defence systems intercepted a ballistic missile launched from inside Yemini territory on Thursday.
This is the second missile launched by the Houti-controlled area of Yemen and the 78th since the conflict over two years ago.
Early this month, the Iran-backed Houthis claimed the Burkan 2-H missile, which has a range between 800 and 2,000 kilometres, had struck its target in King Khaled International Airport, 20km north of Riyadh.
In September, Saudi Arabia intercepted a Houthi-launched missile aimed at one of its largest military bases located in the city of Khamis Mushait, about 100km from the Yemeni border.
The Houthis have also fired missiles to within 70km of Mecca, two attempts since June.
The war in Yemen started in 2014 after Houthi rebels seized control of the capital Sanaa and began pushing south towards the country's third-biggest city, Aden. Saudi Arabia and a coalition of mainly Arab allies launched air strikes in March 2015 against the Houthis and later sent ground troops to support pro-government forces.
The conflict in Yemen has killed more than 10,000 people and created one of the world's biggest humanitarian disasters.