According to a statement from the Yemeni Coast Guard, four of the crew - three Pakistanis and one Indonesian - and two members of a rescue team were killed. Another ten people were injured.
Yemen's Ministry of Transport earlier on Tuesday accused the Iran-backed Houthi movement of being behind the attack and of firing three missiles at the ship.
The Houthi movement began a naval blockade of Saudi Arabia in July and has attacked Saudi tankers in the Red Sea in parallel with Iran's blockade of the Strait of Hormuz.
