However, the attack came less than 24 hours after the Saudi-led coalition was blamed for bombing a funeral in the Yemeni capital denounced by the United Nations as a "horrendous and heinous" attack.
A USA military spokesman said two missiles were fired from Houthi-held territory at the USS Mason, a guided missile destroyer sailing north of the strategic Bab al-Mandab strait.
"Both missiles impacted the water before reaching the ship", said Davis.
Yemen's Shiite rebels known as Houthis and their allies offered no reason for the launches, though they came after a Saudi-led airstrike targeting a funeral in Yemen's capital killed over 140 people and wounded 525 on Saturday. Most of those ballistic missiles have hit areas far closer to Saudi Arabia's border with Yemen, like an attack Friday night that targeted the southwestern city of Khamis Mushait.
In a statement, the Navy said no American sailors were injured and no damage was done to the USS Mason, an Arleigh Burke class of guided missile destroyer whose home port is Norfolk, Virginia.
The failed missile attack on the USS Mason began around 7 p.m. local time, when the ship detected two inbound missiles over a 60-minute period in the Red Sea off Yemen's coast, the US military said.
"We assess these missiles were launched from Houthi-controlled territory in Yemen", she said.
Hackers have attempted more intrusions into voter databases — Federal Bureau of Investigation director
The House could vote as soon as Thursday on a resolution to hold computer specialist Bryan Pagliano in contempt of Congress. He strongly suggested he has no "patience" for such allegations against him and the Federal Bureau of Investigation .
The US warship was in global waters more than 12 nautical miles (22 km) offshore in the southern end of the Red Sea, north of the Bab el-Mandeb Strait.
The Saudi-led coalition had earlier denied accusations that it was responsible for the attack and said it would "immediately investigate" reports that its warplanes were behind the airstrikes, according to the official Saudi Press Agency.
The missiles fired on the Mason come a week after a missile attack on a United Arab Emirates transport vessel that was badly damaged while it was in global waters.
Washington has backed a Saudi-led coalition fighting to prevent Houthi rebels allied with Iran and forces loyal to Yemen's deposed President Ali Abdullah Saleh from taking power in Yemen. The UN has reported that over 80 percent of the country's 25 million people require some form of humanitarian assistance. The New York-based body has said that Yemen may be about to go into starvation, as the Saudi-led coalition maintain a naval blockade on the country. The U.N. and rights groups estimate the conflict has killed at least 9,000 people and displaced almost 3 million more.
Some 1.5 million children are now malnourished and 370,000 of them suffer from severe acute malnutrition.
Peace talks held in Kuwait have stalled and failed to produce a pathway to ending the war.