The engagement was one of three separate incidents of Houthi attacks on ships in the Red Sea on Saturday morning, according to US Central Command.
Houthi attacks escalate, Iran's influence grows. US responds with airstrikes as tensions rise with joint naval drills involving Russia and China.
There were no injuries or damage reported, the United States Central Command (CENTCOM) said.
Even though the US wanted to pivot away from the Middle East, the conflict in Gaza has now drawn the US back in.
A joint operation carried out by the United States, Spain and Japan searched more than 21,000 square miles of ocean for the missing SEALs, CENTCOM said in the statement.
Recent events follow the US redesignating the Houthis as a terrorist organization, as well as calls from multiple countries to de-escalate conflict in trade routes.
The incident in which the SEALs went missing was reportedly unrelated to attacks by the Iran-backed Houthis.
The Iran-aligned Houthis, who control much of Yemen, have launched wave after wave of exploding drones and missiles at commercial vessels since November 19.
Two Houthi attacks on the Maersk Hangzhou commercial ship in the Red Sea between Saturday and Sunday represent a new escalation by the Iranian-backed Houthis.
The Houthis warned that the US 'bears the consequences' of the deaths of the ten militants.
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