An Israeli policeman collects glass shrapnel from the window of a building that was damaged in an explosion in Tel Aviv
An Israeli policeman collects glass shrapnel from the window of a building that was damaged in an explosion in Tel Aviv AFP

A drone claimed by Yemen's Houthi rebels slipped through Israel's vaunted air defence system on Friday to hit a Tel Aviv building near a US embassy annex, killing a civilian.

The Houthis fired at Tel Aviv a "new drone called 'Yafa', which is capable of bypassing the enemy's interception systems," said Yahya Saree, the Iran-backed Yemeni movement's spokesman.

The Houthis have targeted shipping in the Red Sea and Gulf of Aden with numerous drone and missile attacks since November, citing solidarity with Palestinians during the Israel-Hamas war in Gaza.

They have previously claimed attacks on Israeli cities including Ashdod, Haifa and Eilat, but Friday's strike appears to be the first to breach Israel's intricate air defences.

It comes after they threatened an escalation.

An Israeli military official, who spoke on condition of anonymity, said a "very big drone that can travel long distances" was used in the attack which killed one person and occurred at 3:12 am (0012 GMT).

The drone was detected, the official said, but due to "human error" the alarm was not raised in time, and it slammed into an apartment building.

Military spokesman Rear Admiral Daniel Hagari said Israel believed the drone the drone used was Iranian-made and upgraded so that it could reach Tel Aviv from Yemen -- at least 1,800 kilometres (1,100 miles) away.

It was "likely a Samad-3 model, which we estimate was launched from Yemen and reached Tel Aviv," he said, adding the impact killed one civilian and lightly injured others.

Emergency medical services said four people were taken to hospital with "relatively minor" injuries.

In grainy security camera footage, the buzz of what appeared to be the drone was followed by an explosion that shook the building and set off car alarms.

The blast occurred about 100 metres (yards) from a US embassy annex, said an AFP journalist who saw broken windows along the street lined with apartment blocks.

"And then the explosion... everything blew out in the room, the windows and things from the ceiling, and it was on me, nothing heavy, but lots of pieces of stuff," he told AFPTV.

Hagari said Israel "intercepted another UAV trying to infiltrate from the east" at around the same time as the Tel Aviv attack.

"We are investigating why the UAV was not identified as a threat and intercepted before it struck," he said. "I want to emphasise that (Israel's air) defence is not impenetrable."

In recent weeks, the Islamic Resistance in Iraq, a loose alliance of Iran-backed groups, has claimed drone strikes against targets in Israel, labelling many of them "joint operations" with the Houthis.

The Gaza war began with the October 7 attack by Palestinian Hamas militants on Israel which resulted in the deaths of 1,195 people, mostly civilians, according to an AFP tally based on Israeli figures.

The militants also seized 251 hostages, 116 of whom are still in Gaza, including 42 the Israeli military says are dead.

Israel's military retaliation has killed at least 38,848 people, also mostly civilians, according to data from the health ministry in Hamas-ruled Gaza, where fighting raged on Friday.

Residents said clashes were heard between Palestinian fighters and the Israeli army, with explosions and shelling in the Tal al-Hawa district of Gaza City.

The war has destroyed much of Gaza's housing and other infrastructure, leaving almost all the population displaced, short of food and drinking water.

Many are living in unsanitary conditions. Health authorities in Gaza and Israel said on Thursday that highly infectious polio has been detected in Gaza sewage samples.

"The humanitarian situation... is a moral stain on us all," said UN Secretary-General Antonio Guterres.

Israeli Prime Minister Benjamin Netanyahu has repeatedly insisted that, despite mounting pressure both at home and from abroad, there would be no let-up in Israel's campaign against Hamas.

Far-right members of his governing coalition oppose a truce deal, including National Security Minister Itamar Ben Gvir who on Thursday said Netanyahu must not make a "surrender" accord with Hamas.

Netanyahu is set to address the US Congress next Wednesday.

The White House said President Joe Biden was expected to meet with him, but it will depend on the US leader's recovery from Covid.

Ahead of Netanyahu's visit, Israeli lawmakers passed a symbolic resolution opposing the creation of a Palestinian state -- a move criticised by the United Nations and one that clashes with US ambitions for the region.

Despite the Israeli vote, White House National Security Council spokesman John Kirby reiterated "our firm belief in the power and the promise of the two-state solution."

Israel's military said a "very big" drone was used in the attack that was claimed by Yemen's Iran-backed Huthi rebels
Israel's military said a "very big" drone was used in the attack that was claimed by Yemen's Iran-backed Huthi rebels AFP
The Gaza war began with Hamas's October 7 attack on Israel
The Gaza war began with Hamas's October 7 attack on Israel AFP
A handout image made available by the Israeli Prime Minister Benjamin Netanyahu's office shows him in Rafah, in the southern Gaza Strip, where he visited troops
A handout image made available by the Israeli Prime Minister Benjamin Netanyahu's office shows him in Rafah, in the southern Gaza Strip, where he visited troops AFP
A Palestinian boy walks through heaps of garbage at a camp for displaced people in Khan Yunis, southern Gaza -- many are living in unsanitary conditions
A Palestinian boy walks through heaps of garbage at a camp for displaced people in Khan Yunis, southern Gaza -- many are living in unsanitary conditions AFP