There was no immediate Saudi comment on the report.
The Houthis claimed attacks on Abha airport and Saudi Aramco, located in Jizan, via Al-Masirah, publishing an infographic of the "Qasef 1" drone.
According to Al Masirah TV, which is run by the Houthis, the missile was aimed at the defense ministry.
Their news agency SABA said four people were killed, including a woman and a child, and 10 others wounded in two air strikes on Wednesday in the Razih district of western Saada province.
One of the drones was targeting the Abha worldwide airport in Asir province, which led to a temporary suspension of air traffic, and a second was approaching a "civilian object" in Jizan province, he said.
Saudi Arabia accuses its rival Iran of smuggling missiles to the Huthis - a charge Tehran denies.
The Houthis previous year unveiled the Qasef-1 drone, along with three other new types of drones used for surveillance and attack, claiming they were indigenously made.
Malki said Saudi forces also intercepted two missiles in the southern Jizan and Najran provinces, close to the border with Yemen.
Evidence documented by the Conflict Armament Research group, or auto, said the Qasef-1 drone appears to be Iranian-manufactured and has been supplied in batches to Houthi forces in Yemen.
He said Saudi forces also intercepted two missiles in the southern Jizan and Najran provinces close to the border with Yemen.
Major General Mohammed Al Misairi, commander of the Saudi-led coalition, which includes the UAE, said the Arab forces would continue to support the national army until all of Yemen is liberated from the Houthi militia grip. Earlier this month, the coalition said the rebels attacked a Saudi oil tanker in the Red Sea, causing "minor damage" to the ship.
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