The pilotless aircraft targeted a vehicle carrying "Al-Qaeda members" near Al-Husun, a village in Marib province, one source told AFP.
The United States is the only country operating drones over Yemen, but US officials rarely acknowledge the covert drone programme.
Yemen's army launched a major offencive on April 29 against strongholds of Al-Qaeda in the Arabian Peninsula, or AQAP, in three provinces in the south and east.
It says it has inflicted heavy losses on the jihadists.
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AQAP has been linked to a number of failed terror plots against the United States, and its leader Nasser al-Wuhayshi recently appeared in a rare video in which he vowed to attack Western "crusaders" wherever they are.
Al-Qaeda uses the term crusaders to refer to Western powers, especially those countries which have intervened militarily in Muslim countries, such as Britain, France and the United States.
The jihadists took advantage of a 2011 uprising that forced veteran strongman Ali Abdullah Saleh from power to seize large swathes of southern and eastern Yemen.