Yemen's Houthi rebels fired two ballistic missiles toward Saudi Arabian military bases in the kingdom's southern border regions of Najran and Asir on Monday, the Shiite rebels said in a statement.

"The Badr-1-P ballistic missiles targeted gatherings of Saudi troops in two separate military bases, one in Najran and the other in Asir," according to the statement released by the rebel-controlled Saba news agency.

The statement said the missiles hit the targets accurately, adding that "the attacks came in revenge for coalition airstrikes that targeted the capital Sanaa," which is under Houthi control. There was no comment yet from Saudi government.

On Saturday, the Saudi-led coalition launched a series of airstrikes on Houthi military facilities in and around Sanaa. The Saudi-owned Al Arabiya television said the targeted facilities used by the rebels for operating were drone and missiles.

Saudi Arabia is leading an Arab military coalition that intervened in Yemen in 2015 to support the government of President Abd-Rabbu Mansour Hadi after the Houthi rebels forced him into exile and seized much of the country's north, including Sanaa.

The four-year-long war has killed more than 10,000 people, mostly civilians, displaced 3 million others, and pushed the country to the brink of famine.