The attack resulted in the injury of 26 civilians of different nationalities, the report said, adding that the wounded included one Indian woman and two Saudi children.
The rebels' Al-Masirah satellite news channel said the missile hit its intended target, halting air traffic at the airport in the town of Abha in the kingdom's southwest, some 165 kilometers (100 miles) from the Saudi-Yemen border.
To discuss the latest updates we speak with Mahjoob Zweiri, director of the Gulf Studies Center at Qatar University, our Yemen correspondent Mohammed Al Attab from Sanaa and, finally, journalist Hussain Al Bukhaiti who joins us from Sanaa.
"We must condemn these violations and hold the worldwide community responsible for failing to support and help the government to battle the militias".
Flights were disrupted for several hours before returning to normal.
Dallas crane: Casualties confirmed after crane smashes into Texas flats during storms
Across Dallas the storm felled mature trees and knocked out power Sunday, leaving many areas without working traffic lights. What caused the crane - which was being used at a construction site next door - to collapse was still unclear.
Speaking at Tokyo's Haneda Airport just before departing, Abe acknowledged "rising tensions" in the Middle East and said, "Japan wants to do as much as possible towards peace and stability in the region".
He added that the coalition would take "urgent and timely measures to deter this terrorist militia".
Saudi officials said that attack was ordered by Iran, but didn't provide evidence to back their claims.
The rebels acknowledged earlier that they had launched a missile at the airport in the Saudi city. Separately, the front page of the Iranian daily Farheekhtegan, or Educated, published Wednesday morning a picture of a mushroom cloud from a nuclear blast - a reference to America's bombing of Hiroshima and Nagasaki at the end of the Second World War. He said earlier this week that attacks on Saudi airports are an effective strategy to combat the blockade of the airport in Yemen's capital, Sanaa, which the Houthis overran in 2014. "The most modern American systems could not intercept the missile", he said in comments carried by the group's media center.
An air strike by the Saudi-led coalition that killed dozens of people in Yemen last August was branded an apparent war crime by Human Rights Watch.