Malaysian armed forces have withdrawn from the Saudi-led intervention in Yemen, said Foreign Minister Saifuddin Abdullah.

"At this time, all our troops have returned and we are no longer involved," he said after a meeting with his Saudi Arabian counterpart Adel Ahmed Al-Jubeir in Putrajaya today.

Saifuddin said he had informed Adel of cabinet's decision to no longer participate in the Saudi-led coalition.

This is the first time Putrajaya has admitted its involvement in the Saudi-led coalition intervening in the Yemeni conflict that began in 2015 and has left large swathes of the country in rubble.

Then defence minister Hishammuddin Hussein told Parliament in 2017 that Malaysian troops were stationed in Riyadh and were not involved in the conflict.

At the time, Hishammuddin said Malaysian troops were only involved in efforts to evacuate Malaysians.

However, this contradicted many international reports have claimed that Malaysian troops were directly supporting the Saudi war effort.

The Pakatan Harapan administration had decided in June to withdraw troops.