Yemen's Houthi movement condemned the strikes and Iran announced it had sent two warships to the Gulf of Aden, according to the semi-official Tasnim news agency, establishing a military presence in waters off Yemen.

The U.S. missile strikes, authorized by President Barack Obama, represent Washington's first direct military action against suspected Houthi-controlled targets in Yemen's conflict and raised questions about the potential for further escalation.

The Pentagon, however, stressed the limited nature of the strikes, aimed at radar that enabled the launch of at least three missiles against the U.S. Navy ship USS Mason on Sunday and Wednesday.

"These limited self-defense strikes were conducted to protect our personnel, our ships and our freedom of navigation," Pentagon spokesman Peter Cook said.