They also reviewed the latest regional and international developments.
The Kingdom and the US have a decades-old relationship.
The US military is watching Houthi activities along the strategic Bab Al-Mandab strait connecting the Red Sea with the Indian Ocean.
Rebels in late January attacked a Saudi warship in the Red Sea, and they are also believed to have fired missiles toward US warships in the area.
The United States says the rebels are deploying coastal defense missiles and other weapons which threaten free navigation in the waterway which is vital to global trade.
“I am extraordinarily concerned about another contested maritime chokepoint in the region,” US Central Command chief Gen. Joseph Votel told the House Armed Services Committee in March.