An apparent drone attack - claimed by the Iranian-backed Houthi militia - hit central Tel Aviv in the early hours of Friday, killing one man and slightly wounding four others, the Israeli military and emergency services said.
The explosion, which did not trigger air raid alarms, occurred hours after the Israeli military confirmed it had killed a senior commander of the Iran-backed Hezbollah militia in southern Lebanon.
The military spokesman of the Houthis said the group fired a drone at Tel Aviv and the city would remain a target.
In the late 1990s, the Houthi family in the far north of Yemen set up a religious revival movement for the Zaydi sect of Shi'ite Islam, which had once ruled Yemen but whose northern heartland had became impoverished and marginalized.
As friction with the government in the capital Sanaa grew, they fought a series of guerrilla wars with the national army and a brief border conflict with Sunni Muslim Saudi Arabia.
Abdul Malik al-Houthi created the defiant force challenging world powers from a group of ragtag mountain fighters in sandals. Al-Houthi established a reputation as a fierce battlefield commander before emerging as head of the Houthi movement.
Under the direction of al-Houthi, who is in his 40s, the group has grown into an army of tens of thousands of fighters and acquired a huge arsenal of armed drones and ballistic missiles. Saudi Arabia and the West say the arms come from Iran, though Tehran denies this.
Al-Houthi is known for rarely staying long in one place, for never meeting the media and for extreme reluctance to make scheduled public appearances.
A civil war erupted in Yemen in late 2014 when the Houthis seized Sanaa. Worried by the growing influence of Shi'ite Iran along its border, Saudi Arabia led a Western-backed coalition in March 2015, which intervened in support of the Saudi-backed government.
The Houthis established control over much of the north and other large population centres, while the internationally recognised government based itself in the port city of Aden.
Yemen has now enjoyed more than a year of relative calm amid a UN-led peace push, but a sharp escalation in regional tensions since the start of the Gaza war has increased risks of a new conflict between the militia and Riyadh.
The Houthis have waded into the Gaza conflict with attacks on shipping routes in the Red Sea as a show of support for the Palestinians and Hamas, the Islamist group that controls Gaza.
They have also claimed attacks on ships they say are linked to Israel in the Gulf of Aden, the Arabian Sea, the Indian Ocean and the Mediterranean Sea.
The Houthi attacks have disrupted global shipping, forcing firms to re-route to longer and more expensive journeys around southern Africa.
While the militia has said it attacks only vessels with links to Israel, the United States and Britain, shipping industry sources say all ships could be at risk.
The US and Britain have retaliated with air strikes against the Houthis as part of international efforts to restore the free flow of trade along a key route between Europe and Asia that accounts for about 15 per cent of the world's shipping traffic.
The Houthis have said they will consider ending their missile and drone attacks on international shipping in the Red Sea only when Israel ends its "aggression" in the Gaza Strip.
The Israeli resort city of Eilat on the Red Sea has also been a target of Houthi attacks, though Friday's attack is the first the group has claimed against Tel Aviv.
The Houthis are part of what has been called the "Axis of Resistance" - an anti-Israel and anti-Western alliance of regional militias including Hamas, Hezbollah and the Houthis, backed by Iran.
The Houthis' slogan is "Death to America, Death to Israel, curse the Jews and victory to Islam".
The Saudi-led coalition accuses Tehran of arming and training the Houthis, a charge both deny. The coalition also says Lebanon's Iran-backed Hezbollah is helping the Houthis, an accusation it rejects.
While Iran champions the Houthis, The Houthis deny being puppets of Iran, and Yemen experts say they are motivated primarily by a domestic agenda.