Meanwhile, a Saudi-led coalition bombarded cities and towns in southern Yemen, as the targeted Huthi forces accused it of killing 124 people on Monday in one of the deadliest days of its air war.
Yesterday's bloodshed came two days after UN envoy Ismail Ould Cheikh Ahmed arrived in Sanaa bidding to secure a humanitarian truce in a conflict estimated to have killed 3,000 people, mostly civilians.
The car bomb, at the al-Raoudh mosque in southeast Sanaa, went off as worshippers were leaving after evening prayers, witnesses and a security official said.
A medical source said at least one person was killed and five more wounded.
In a brief statement posted on terrorist group websites, ISIS said it had "taken revenge" against the Huthi forces who have seized swathes of the country.
Elsewhere on yesterday evening, four huthi forces were killed and 10 wounded in a suicide car bombing that targeted a police station in huthi-held Baida, in central Yemen, a security official and witnesses said.
Baida is a stronghold of al-Qaeda in the Arabian Peninsula (AQAP), also very active in southern and southeastern Yemen.
The capital of Sunni-majority Yemen has been under the control of the Huthi since September.
They have since expanded their offensive against Saudi backed forces and al-Qaeda terrorist to other parts of Yemen, forcing ousted President Abedrabbo Manour Hadi and his government to flee to Saudi Arabia