According to al-Masirah television, a Yemeni military source said the attack killed five Saudi troops in al-Qiyadah military base in Najran, southwest of the kingdom.
A Saudi Abrams battle tank was hit by a ground-to-ground missile, killing all servicemen on board, the source noted, describing the assault as a retaliation against the unrelenting Saudi attacks on Yemen.
Yemeni civilians have been under massive attacks by a coalition led by the Saudi regime for nearly 21 months.
Since March 2015, Saudi Arabia and some of its Arab allies have been launching deadly airstrikes against the Houthi Ansarullah movement in an attempt to restore power to the fugitive former President Abd Rabbuh Mansour Hadi, a close ally of Riyadh.
Nearly 10,000 Yemenis, including 4,000 women and children, have lost their lives in the deadly military campaign.