The Yemeni forces took control of the Saudi military post of Ka'b al-Jaberi and the village of Mohannad in Jizan, leaving a group of Saudi soldiers dead and injured.
Meanwhile, a spokesman for the Saudi Interior Ministry said that a member of the ministry was killed by a mortar shell fired from Northern Yemen on the border between the two countries.
"Military shells fired from the Yemeni territory killed Ali Bin Fahad Abu Mahasen, a member of the mujahideen administration branch in Jizan region," the spokesman said in a statement.
Saudi Arabia has been striking Yemen for 188 days now to restore power to Hadi, a close ally of Riyadh. The Saudi-led aggression has so far killed at least 6,469 Yemenis, including hundreds of women and children.
Hadi stepped down in January and refused to reconsider the decision despite calls by Ansarullah revolutionaries of the Houthi movement.
Despite Riyadh’s claims that it is bombing the positions of the Ansarullah fighters, Saudi warplanes are flattening residential areas and civilian infrastructures.
Saudi Arabia loses force in Yemen
"A defense ministry force was killed in Southern Saudi Arabia," the ministry announced in a statement on Tuesday.
On Saturday, the Yemeni forces killed a Saudi border guard general in an artillery attack on al-Khoba region.
"The Saudi border guard commander in al-Khoba region and one of his soldiers were killed in the Yemeni army and popular forces' operations in al-Khoba," the Arabic-language al-Masyra television quoted Yemeni sources as saying on Saturday.
The sources did not disclose the name of the Saudi border guard.
In August another Saudi army general was killed by the Yemeni forces in an artillery attack on Jizan province; AFP reported.
Major General Abdulrahman bin Saad Al Shahrani, commander of Saudi Army's 18th Brigade, had been visiting the troops deployed “on the front lines along the southern region when he had come under enemy fire.
Shahrani had been wounded in the attack and hospitalized, but he had later succumbed to his injuries.
Shahrani is one of the two highest ranking Saudi officers killed in the war with Yemen; FNA reported.