Israeli Defence Minister Benny Gantz began a visit to Bahrain on Wednesday amid heightened tensions in the Gulf after missile attacks on the United Arab Emirates by Yemen's Iran-backed Houthi movement.

Announcing Gantz's trip only after his arrival in Manama, Israel's Defense Ministry said he would sign a security cooperation agreement with Bahrain, which along with the UAE normalized relations with Israel in 2020.

The United Arab Emirates on Monday intercepted a missile during a visit by Israel's president, the third such attack in two weeks claimed by the Houthis.

In disclosing Gantz's official visit, the Israeli defense ministry made no mention of the Houthi attacks nor gave details of what a security accord with Bahrain would include.

Israel this week is taking part in a large Middle East naval exercise for the first time publicly joining Saudi Arabia and Oman, two counties it has no diplomatic relations with.

Gantz flew to Bahrain on an Israeli air force transport plane. It was the first time an Israeli defense chief had visited the Gulf nation or that an Israeli military aircraft had landed there.

"Honored to be here and looking forward to meeting the Kingdom's leaders," Gantz wrote on Twitter.

The US-brokered Abraham Accords signed by Bahrain, the UAE and Israel built on common commercial interests and worries about Iran.