Iran has also seized other vessels in international waters in recent years, heightening risks for merchant shipping in the area.
This event comes amid threats of an Iranian attack against Israel, as Israel has been on a high state of alert since late Thursday night.
The voyage, which faced public outcry in both Australia and Israel, prompted petitions and legal challenges against Israel's Agriculture Ministry.
The Houthis have continued to disrupt global shipping through the Suez Canal, forcing shipping firms to re-route longer and more expensive journeys, and impacting global trade.
The engagement was one of three separate incidents of Houthi attacks on ships in the Red Sea on Saturday morning, according to US Central Command.
Ambrey said the tanker was registered under Union Maritime Ltd, a UK company, in 2019 before changing its registration details, including name and operator, last month.
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When the Israel-Hamas conflict in Gaza comes to an end, as it must eventually do, the Houthis might seize the opportunity to withdraw from holding the world to ransom.
More thought needs to be put into what to do when and if ships are struck by missiles. Letting ships slowly sink is not a good solution.
In two separate reports on Saturday the United Kingdom Maritime Trade Operations agency said it had received a report of a ship being attacked 15 nautical miles west of Yemen's port of Mokha.
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