“In response to these crimes … the missile force and the naval force of the Yemeni Armed Forces carried out a joint military operation targeting the American aircraft carrier Eisenhower in the Red Sea,” the movement’s military spokesman, Brigadier General Yahya Saree said.
“The operation was carried out with a number of winged and ballistic missiles, and the hit was accurate and direct,” he added.
US side denying it: https://www.businessinsider.com/houthi-rebels-didnt-hit-us-aircraft-carrier-as-they-claimed-2024-5
I doubt there's really a way to know either way unless Yemen hit so hard it was seriously compromised.