"My father was released and handed over to the Political Security Agency following Omani mediation," Mohamed al-Marani, the son of Maj. Gen. Yehia al-Marani, told The Anadolu Agency.
The senior Al-Marani was kidnapped two weeks ago from his Sanaa home by Houthi militants.
According to the son, the militants released the official after Omani mediators agreed to the Houthi's conditions, including his dismissal as intelligence agency head and the appointment of a pro-Houthi figure in his stead.
Yemen has recently appeared to be on the verge of civil war, as the Houthis seek to expand their control beyond capital Sanaa, which they took over in late September.
The Houthis' growing influence in the country has pitted it against both Al-Qaeda – said to be active in politically fractious Yemen – and allied Sunni tribes.
Recent fighting between the warring camps in the country's central and western regions has left hundreds dead.