The attack comes a day after several drones attacked the Abha international airport in Saudi Arabia's southwest, prompting Washington to call for an end to Houthi aggression.
Fighting erupted a day after UN envoy Martin Griffiths told the security council warring sides made "significant progress" in agreeing on a ceasefire amid a burgeoning Covid-19 outbreak.
The Yemeni people cannot afford another setback to peace.
"[Mohammed] Bin Salman's optimism about stopping the war is positive," says Mohamed Ali al Houthi, a member of the group's political council, a day after Saudi crown prince voiced hope for reaching a political solution to conflict.
Earlier, the rebels announced they would release 350 prisoners, including three Saudi Arabians, under UN's supervision as part of peace initiative.
Up to 60 percent of beneficiaries at seven centres in Sanaa "confirmed they had not received any assistance" and 33 percent of respondents in the rebels' northern stronghold of Saada received no food in April, says head of the UN food agency.
Iran is likely to use the Houthis to give Saudi Arabia and by extension the US, a bloody nose - ruining any chance for peace in the process.
Negotiations in Jordan will attempt to verify names of about 15,000 prisoners to be exchanged by both sides, some of whom include Saudis and other nationals fighting on the Aden government's side.
Commercial drones are increasingly being employed as a tool of political violence - will they be the new guerilla weapon of choice?
Retired Dutch General Patrick Cammaert chaired the meeting aboard a UN vessel docked off the coast of the flashpoint city of Hudaida.
Martin Griffiths, UN envoy for Yemen, says, "Such changes in timelines are expected, in light of the facts that the timelines were rather ambitious and we are dealing with a complex situation on the ground."
Fighting continues in Red Sea port of Hudaida, with 21-day redeployment deadline looming.
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