The White House said two of its citizens were flown to Oman where they were met by US consular staff. It did not identify them by name.
However, CNN named one as Scott Darden, a 45-year-old employee of the New Orleans-based company Transoceanic Development.
He was taken hostage by Shiite Huthis rebels in Sanaa in March, it cited a US administration official as saying, while naming the other freed American as Sam Farran.
A rebel Yemeni official and a security source had earlier said three US nationals were released by the Iran-backed Huthis who have controlled the Yemeni capital for the past year.
An American journalist believed to have been held by the rebels was handed over to Oman in early June along with a Singaporean.
The journalist, Casey Coombs, had been freelancing in Yemen since 2012.
Washington has provided intelligence and logistical support for the Saudi-led air campaign launched in March against the rebels, while calling for a political solution to the conflict.
National Security Council spokesman Ned Price said officials had confirmed the release of two Americans and informed relatives.
"This outcome underscores that we have been and will continue to be tireless in pursuing the release of all Americans detained abroad unjustly, including those who remain in the region," he said.
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