The fighters had just wrestled the encampment from the Houthis in the southern Taiz province when airstrikes hit them, pro-government security officials said.
"They thought the Houthis were still there," one pro-government security official told The Associated Press.
Ground commanders have repeatedly complained of slow communication with military leadership in Riyadh, the officials added.
Yemen's fighting pits the Houthis and allied army units against forces loyal to the coalition-backed internationally recognized government as well as southern separatists and other militants.
Also Read
A day earlier, gunmen on a motorcycle killed an Emirati officer in the southern port city of Aden, the sixth assassination of pro-government troop leaders and officials there in recent weeks, pro-government security officials said.
The United Arab Emirates is part of the Saudi-led coalition, which has been pounding rebel positions since March.
Although no group has claimed responsibility for the attack, pro-government officials said they suspect Sunni extremists, who they say have made land grabs, exploiting the chaos engulfing the Arab world's poorest country. Yemen's al-Qaida, viewed by Washington as the terror network's most dangerous affiliate, is known to have used motorcycles in previous assassinations.
"First they took Mukalla and then Zinjibar. We are all worried Aden may be next," one pro-government security official told The Associated Press.