Attackers fired at least one rocket near a U.S. Navy ship in Jordan's Aqaba port on Friday, but the missile missed the vessel and hit a nearby warehouse instead, U.S. military officials said.

A rocket also hit the Israeli port of Eilat, which is 9 km (5 miles) across the water from Aqaba. Israeli officials said the two attacks were co-ordinated and that both countries were cooperating.

Jordanian and Israeli officials said there were no casualties in either missile strike.

"I can confirm that a rocket flew over the bow of USS Ashland and the rocket impacted in the roof of a warehouse. No sailors or Marines were injured," Commander Jeff Breslau of the U.S. Fifth Fleet told Reuters.

Breslau said the Ashland and sister amphibious ship the USS Kearsarge had immediately left the port following the attack.

The two ships, which carry Marines, had been in Aqaba to conduct joint training exercises with the Jordanian navy, the Fifth Fleet's Lieutenant-Commander Charlie Brown said.

Jordanian Interior Minister Awni Yarfas said the rocket caused little damage to the warehouse and no casualties.

Jordan's Red Sea resort, once a sleepy port, has seen a surge in tourism and investment in recent years in part because it is seen as safe haven. It is also logistics hub for Iraq, used by the U.S. military and for moving commodities.

Yarfas said the blast had not disrupted activities in Aqaba.

PHOTO CAPTION

An undated US Navy handout photo shows USS Ashland (top) during a naval exercise at an undisclosed location. (Reuters)