In recent months, Houthi rebels claimed they have fired missiles at tourist destinations in the Middle East.
Haley said the debris shows Iran is violating the UN Security Council's 2015 resolution 2231, which endorses the Iran nuclear deal, prohibits Iran from any activity that would advance its ballistic missile program, and bans them from transferring weapons.
"We did this for a single urgent goal: because the Iranian regime can not be allowed to engage in its lawless behaviour any longer", Mrs Haley said at a briefing at a United States airbase outside Washington DC.
The US ambassador to the United Nations, Nikki Haley presented what she called "undeniable" evidence that a ballistic missile fired by Huthi rebels in Yemen at Saudi Arabia last month was Iranian-made, a charge Tehran immediately denied.
During an official visit to Saudi Arabia in May, Trump announced a $110 billion arms deal with Riyadh, said to be the largest in American history.
Its ballistic missiles and advanced weapons are turning up in war zones across the region.
"The Kingdom of Saudi Arabia demands the worldwide community to take immediate measures to implement the aforementioned Security Council resolutions and to hold the Iranian regime accountable for its hostile actions", it said.
She said: "We must speak with one voice to expose the regime for what it is a threat to the piece and security of the entire world".
Alireza Miryousefi, spokesman at Iran's mission to the United Nations, said Tehran "categorically" rejects the U.S. claims. He is a leading expert on Iran and USA foreign policy, a businessman and president of the International American Council. It said the evidence means the United Nations should tighten its inspection and verification regime for vessels allowed into Yemen.
"It's giving hypocrisy a bad name, when you look at the situation in Yemen, where the USA supported Saudi attacks that indiscriminately killed so many civilians as opposed to this one rocket that was sent by the Houthis into Saudi Arabia to land whatever it might", McGovern said.
"It's hard to find a conflict or terrorist group in the Middle East that doesn't have Iran's fingerprints all over it", she told a news conference, vowing the USA will "build a coalition to really push back against Iran and what they're doing".
AP reported that while Guterres said in the report that Iran's missile activities may run counter to a that non-binding provision of the deal, he said overall Iran has complied with the agreement, which curbs Iran's nuclear activities in exchange for sanctions relief.
"Just imagine if this missile had been launched at Dulles Airport or JFK, or the airports in Paris, London, or Berlin", Haley said. However, he did not withdraw the US from the deal.
"You will see us build a coalition to really push back against Iran and what they're doing", she said.