The attack was carried out on Tuesday, using Tomahawk cruise missiles fired from the destroyer USS Nitze.
The missile strikes were launched after a US warship in the Red Sea came under missile attack for the second time in days.
The Pentagon military authorities said the Yemen radar sites were on the territory controlled by Houthi rebels.
The attack marked the first time the US has fired at rebel targets since the start of the conflict in Yemen in March last year.
