According to Yemen's al-Masirah TV, the Yemeni military and allied Ansarullah fighters carried out the retaliatory attack early on Tuesday.
Yemeni forces launch such attacks in retaliation for Saudi Arabia’s relentless airstrikes, which the monarchy has been carrying out since March 26.
Earlier on Monday, Saudi warplanes carried out raids on Abs and Harad towns in the northwestern Hajjah province.
Various locations were also targeted by Saudi jets in the northern Sa’ada province, Press TV reported.
The United Nations says over 2,600 Yemeni people have been killed and at least 11,000 others injured during Saudi Arabia's airstrikes against Yemen.