"A multi-rocket attack was launched at US and Coalition forces in the vicinity of Union III and the Baghdad embassy complex" without causing any reported casualties or damage, a US official said.
There was no immediate claim of responsibility.
The United States leads an international coalition battling jihadists in Iraq and neighbouring Syria, and its forces have come under repeated attacks in recent weeks.
The attacks come against the backdrop of the more than two-month war between US ally Israel and the Iran-backed Palestinian Islamist militant group Hamas in the Gaza Strip.
In a statement, the US embassy said "two salvoes of rockets" were fired at the mission compound at around 4:15 am (0115 GMT).
"Indications are the attacks were initiated by Iran-aligned militias," said a US spokesperson.
"We again call on the government of Iraq... to do all in its power to protect diplomatic and coalition partner personnel and facilities.
"We reiterate that we reserve the right to self-defence and to protect our personnel anywhere in the world," the spokesperson added.
Since mid-October there have been dozens of rocket or drone strikes by pro-Iran groups against US or coalition forces in Iraq as well as in Syria.
But Friday's rocket attack was the first against the US embassy in Baghdad since the Israel-Hamas war began on October 7, raising regional tensions and fears of a wider conflict.
An Iraqi security official said "three Katyusha rockets targeting the American embassy fell close to the Green Zone", near the river Tigris. They spoke on condition of anonymity as they were not authorised to speak to the media.
There are roughly 2,500 US troops in Iraq and about 900 in Syria as part of efforts to prevent a resurgence of the Islamic State group.
- Around 80 attacks -
After the end of a seven-day pause in the war between Israel and Iran-backed Hamas last week, pro-Iran groups resumed their attacks against US and coalition forces, justifying their actions by pointing to American support for Israel.
In Iraq, most were claimed by the Islamic Resistance in Iraq, a loose formation of armed groups affiliated with the Hashed al-Shaabi coalition of former paramilitaries who are now integrated into Iraq's regular armed forces.
US forces have struck Iran-linked targets in both Iraq and Syria in response.
On Sunday a US military official speaking on condition of anonymity confirmed a "self-defence strike" was carried out in northern Iraq against a drone launch site "in the vicinity of Kirkuk" against "an imminent threat".
The Islamic Resistance in Iraq later announced the death of "five martyrs".
That strike came a day after Iraqi Prime Minister Mohammed Shia al-Sudani said during a phone call with US Secretary of State Antony Blinken that Baghdad rejected "any attack on Iraqi territory", according to a statement from Sudani's office.
Sudani also said the Iraqi government was committed "to ensuring the safety of the international coalition advisers present in Iraq".
On Wednesday, a US military official said a drone had targeted Western troops at the Ain al-Asad Airbase in western Iraq, but there were no casualties or damage.
In total, Washington has counted at least 78 attacks since October 17 against its forces in Iraq and Syria, 10 days after the start of the war between Israel and Hamas.
The Israel-Hamas war began with the Palestinian militant group's unprecedented attack on Israeli soil, which killed around 1,200 people and saw about 240 people captured as hostages, according to Israeli officials.
In response, Israel vowed to destroy Hamas and launched a large-scale military offensive that has killed 17,177 people in Gaza, according to the territory's Hamas government.
The attacks against US personnel included rocket fire and drone strikes, and have left at least 60 US personnel wounded, the Pentagon says.
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