The first retaliatory attack targeted "operation room in Najran airport" in Najran region, while the other one hit "aircraft hangars in King Khaled Air Base in Khamis Mushait city" in Asir region, the spokesman for Yemen’s Armed Forces, Brigadier General Yahya Saree, said in a tweet on Friday.
"The attacks came in response to the airstrikes and blockade by the Saudi-led military coalition," he said.
Saree also said that the military used Qassif K2 drones in the operation.
Last week, the Yemeni Armed Forces conducted large-scale attacks on the headquarters of the Saudi Defense Ministry and general intelligence agency as well as King Salman Air Base in the capital, Riyadh, and in the Najran and Jizan regions.
Saudi Arabia and a number of its regional allies launched a devastating war on Yemen in March 2015 in an attempt to subdue an uprising that toppled a regime friendly to Riyadh.
The US-based Armed Conflict Location and Event Data Project (ACLED), a nonprofit conflict-research organization, estimates that the war has claimed more than 100,000 lives over the past five years.
More than half of Yemen’s hospitals and clinics have been destroyed or closed during the war by the Saudi-led coalition, which is supported militarily by the UK, the US and other Western countries.