"Four members of the armed forces and three civilians have been killed, and 30 others injured," the Yemeni military said in a statement.
Air defences intercepted and shot down 11 Houthi drones that participated in the attack, the military said.
Footage shown by Houthi-affiliated Al Masirah TV showed the launch of several ballistic missiles and drones, which Houthi military spokesperson Yahya Saree said in a post on Telegram targeted Saudi troop concentrations and weapons depots.
The Yemeni military said the Houthi attacks had also targeted residential neighbourhoods in Mocha.
Mocha lies near the strategically important Bab al-Mandab Strait, which forms the entrance to the Red Sea and is a key route for international shipping and the global oil trade.
An unofficial ceasefire has largely held in Yemen since 2022, but there are growing concerns the civil war could flare up again after days of attacks on both sides.
Separately, the Houthi militia claimed to have attacked a refinery of the Saudi oil giant Aramco as tensions escalate between the militia and the oil-wealthy monarchy.
The Houthi military spokesman said the drone attack on the facility, located in Jazan in south-western Saudi Arabia, was a "precise hit."
He added the attack was in response to the "Saudi enemy's violation" of the airspace over the Yemeni provinces of Saada and Hajjah with drones.
The Saudi Ministry of Energy said firefighting teams extinguished the blaze.
with DPA
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