Larijani made the remarks while addressing the extraordinary meeting of the Palestinian Committee of the Parliamentary Union of the Organization of Islamic Cooperation Member States (PUOICM) in the Iranian capital Tehran on Monday.
“We are not a country that would deny providing military assistance to anybody,” Larijani said.
He added that Iran is providing military assistance to Palestine, but has not helped Yemeni fighters in their war with Saudi Arabia in military terms and dismissed any claim to this effect as a lie.
"The Yemenis' missiles belong to themselves and countries [making] such claims cannot do anything," the top Iranian parliamentarian said.
On Thursday, US Ambassador to the United Nations Nikki Haley appeared in a staged show in front of a large and charred tube that she claimed was "concrete evidence" that Iran was providing missiles to Yemen.
A Saudi Arabian-led coalition launched a war against Yemen in 2015 and has ever since been indiscriminately hitting targets in the country. Yemeni Houthi fighters have been firing missiles in retaliatory attacks against Saudi targets every now and then.
On November 4, a missile fired from Yemen targeted King Khalid International Airport near Riyadh, reaching the Saudi capital for the first time.
Elsewhere in his remarks, Larijani said terrorism has tremendously grown in recent years both in quantitative and qualitative terms; however, such growth would not have been possible without the support of the US and some countries in the region.
Israel and terrorism are the two sides of the same coin and pursue similar goals, he said. Larijani emphasized that US-backed terrorists sought to create chaos in the Middle East and pointed to the recent announcement by the Israeli regime that it enjoys the best conditions since Muslim countries are grappling with terrorism.
Ali Akbar Velayati, a senior advisor to Leader of the Islamic Revolution Ayatollah Seyyed Ali Khamenei on international affairs, on Sunday dismissed as "baseless and ridiculous" the recent US claim about Iran providing missiles to Yemen's Houthi Ansarullah movement, saying even international experts have mocked the accusation.
"The Islamic Republic of Iran has never given missiles to Yemen," he said.
Iranian Foreign Minister Mohammad Javad Zarif said on Friday the United States is complicit in Saudi war crimes in Yemen.
He added that the US has sold weapons to its allies enabling them to "kill civilians and impose famine," in reference to Washington's arms deal with Riyadh in its aggression against Yemen.