Colonel Turki al-Maliki, a spokesman for Saudi-led coalition forces, said that the Houthis were released in exchange for a Saudi soldier in Yemen.
Maliki said efforts are underway to release prisoners of coalition forces.
The United Nations' envoy to Yemen, Martin Griffiths, welcomed the prisoner Exchange by posting on Twitter that he "hopes to see more similar humanitarian gestures from the parties".
Griffiths also said he looked forward to the implementation of a wider prisoner exchange agreement between Yemen's warring sides.
"Thousands of Yemeni families await this implementation, to be reunited with their loved ones," he said.
Yemen's warring parties agreed to exchange prisoners, a ceasefire in the main Yemeni port city of Hodeidah, ports, and the ceasefire in Taiz at peace negotiations in Sweden on 6-13 December 2018, but that exchange has not yet been carried out.
ILKHA