The Houthi rebels described the attack as revenge for "crimes" committed by the Saudi-led coalition, which has carried out months of air strikes in Yemen.
According to Emirati state media, Emirati air strikes hit Houthi rebel targets in a number of places inside Yemen.
The UN says some 4,500 people - including at least 2,110 civilians - have been killed in fighting on the ground and by coalition air strikes since late March.
Coalition countries are thought to have sent several thousand troops to Yemen in an effort to restore President Abdrabbuh Mansour Hadi to power.
They helped southern militiamen opposed to the Houthis retake the southern port city of Aden in July and have since advanced northwards.