Five people were killed on Wednesday and 23 others injured when Yemen's Iran-backed Houthis fired a ballistic missile at the strategic northern city of Marib, a medical source said.
The medic said two soldiers and three civilians were killed in the strike, which the Houthis claimed on Twitter.
Marib, in an oil-rich province of the same name, is the government's last northern stronghold. The Houthis have been fighting to seize it for months.
A pro-government military source confirmed the Houthi missile strike on the city.
The attack comes a day after pro-government fighters from the Giants Brigades forces said they expelled the Houthis from Harib, a district south of Marib.
The rebels have recently suffered a series of territorial defeats amid a major escalation in Yemen's seven-year war.
On Monday the Houthis launched missiles at the UAE which were intercepted over Abu Dhabi, a week after a drone attack killed three people in the first deadly attack on UAE soil claimed by the rebels.
The Houthi rebels seized the capital Sanaa in 2014, prompting a Saudi-led military intervention the following year.
Hundreds of thousands have been killed and millions displaced in the conflict, which the UN has labelled the world's worst humanitarian crisis.