The missile attack was carried out using Tomahawk cruise missiles fired from the destroyer USS Nitze, US officials said. A warship in the Red Sea came under missile attack for the second time in days.
The Pentagon said initial assessments showed that three radar sites involved in the recent missile launches had been destroyed.
The United States is responding to missile attack to their ships and commercial traffic, as appropriate. Hence, strikes on radar sites had been authorised by President Barack Obama.
It said the targeted sites were on territory controlled by Iranian-allied Houthi rebels.
“These limited self-defence strikes were conducted to protect our personnel, our ships, and our freedom of navigation in this important maritime passageway,” Pentagon spokesman Peter Cook said.