The foreign ministry handed the charge d'affaires a "protesting memorandum concerning Iran's illegal arming" of Huthi rebels, according to state news agency WAM.
It said that "Iranian weapons, including unmanned drones targeted recently by the Arab coalition, represent a flagrant violation" of UN Security Council resolutions.
The UAE is a key partner in the Saudi-led coalition that intervened in Yemen in March 2015 after rebels stormed the capital Sanaa and advanced on second city Aden.
The Yemeni government and its allies have repeatedly accused Iran of arming the insurgents, a charge that Tehran has categorically denied.
The war in Yemen has cost more than 7,400 lives since the coalition began its operation, according to the UN's World Health Organisation.