Al Ekhbariya television quoted sources as saying the attack in the city of Marib was carried out with ballistic missiles and drones.
A mosque in a military camp was attacked by the Huthis in the central province of Marib, during evening prayers, military sources said.
The attack happened in the province of Marib on Saturday at a mosque at a military camp, in what Yemen's President Abdu Rabu Mansour Hadi condemned as a "heinous" and "cowardly terrorist operation committed by the Houthis".
From Riyadh, Hadi witnessed an intervention by a Saudi-led coalition in 2015 to help its government forces fight the Houthis allied with Iran.
Houthi rebel gunmen in Yemen. According to official Saba news agency, fighting in Naham was ongoing today. Iran has repeatedly denied supplying weapons to the Houthis.
They did not immediately claim responsibility for Saturday's attack.
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An UN-brokered agreement signed between the warring sides in December 2018 is seen as a hope to reduce the crisis in Yemen but the slow implementation means that the intense conflict continues.
Tens of thousands of people, mostly civilians, have been killed and millions displaced in the war that has ravaged the country, triggering what the United Nations describes as the world's worst humanitarian crisis.
The landmark agreement signed in Sweden in December 2018 had been hailed as Yemen's best chance so far to end the fighting that has pushed the country to the brink of starvation.
Alarmed by the rise of a group they believed to be backed militarily by regional Shia Muslim power Iran, Saudi Arabia and eight other mostly Sunni Muslim Arab states began an air campaign aimed at restoring Mr Hadi's government.
"We must not let that happen again", he said.