Al-Maliki said that the missile was in the direction of the city of Najran and was deliberately launched to target civilian and populated areas.
Saudi-led coalition air strikes on a marketplace and house in rebel-held northern Yemen have left at least 14 people dead, witnesses and a rebel-run news agency said Thursday.
The Saudi-led coalition fighting in Yemen said it had thwarted an attack on a Saudi oil tanker over the weekend by Houthi fighters near the Red Sea port of Hodeidah.
"There is no doubt that Hodeidah Port has now become a starting point for terrorist operations to threaten the maritime navigation in the Red Sea and the Bab al-Mandab strait", Maliki said. He pointed out that it is necessary and the United Nations must take the initiative to receive the port of Hodeidah from the Houthi armed group to help the Yemeni people and to maintain regional and worldwide security and stability, pointing out that the port of Hodeidah has become the starting point for acts of terrorism that threaten the navigation movement.
In November, the coalition tightened the blockade after the Huthis fired a missile into Saudi Arabia that was intercepted near Riyadh's global airport.
In March 2015, Saudi Arabia led a military coalition of Arab forces, backed by the United States, to intervene in Yemen's conflict to back the government of exiled President Abd-Rabbu Mansour Hadi.
Despite the coalition's superior firepower, the rebels still control the capital and much of north Yemen.
Some 8 million people are on the brink of starvation, more than 10,000 have been killed and tens of thousands of others are struggling with cholera, diphtheria and other diseases.