The foreign ministry did not say how many were wounded in the Friday night attack but said they were receiving treatment in the UAE.
The UAE military had previously said there were no casualties in the attack in the busy shipping lane that links the Suez Canal and the Red Sea with the Gulf of Aden and the Indian Ocean.
The ministry identified the vessel as the HSV-2 Swift, a high-speed catamaran which it said had been chartered from the Abu-Dhabi-based National Marine Dredging Company.
The ministry condemned the "heinous attack" which it said had "serious repercussions for the freedom of navigation."
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The UN Security Council too strongly condemned the attack in a statement yesterday.
"The members of the Security Council take threats to shipping around Bab al-Mandab, a strategically important shipping passage, extremely seriously," the statement said.
"The members of the Security Council called for such attacks to cease immediately and urged necessary steps to be taken to de-escalate the situation."
Coalition warships have imposed a naval blockade on rebel-held ports along Yemen's Red Sea coast allowing in only UN-approved aid shipments.