A Saudi spokesperson who issued the denial confirmed, however, that the Arab coalition remained engaged in the fight in the Arabian Peninsula nation.
"There are no foreign forces in Aden but coalition continues to help fight against the Houthi militia," Brigadier General Ahmed al-Asiri said in a statement.
Yemeni officials had earlier said at least 20 Arab coalition soldiers landed in Aden, a southern port city, on Sunday on a "reconnaissance" mission.
The Arab coalition has been conducting an air war against Houthi fighters since March 26.
"A limited coalition force entered Aden and another force is on its way" to the city, AFP news agency had quoted an official, who requested anonymity, as saying.
A leading member of the Popular Committees, a locally recruited militia loyal to exiled President Abd-Rabbu Mansour Hadi, also told AFP the ground force "will start helping us in fighting" the Houthis.