Muhammad Abdul Salam said on Sunday that the agreement was achieved in talks held under the supervision of the United Nations in Amman, Jordan, Al-Masirah reported.
He said it was part of the process for implementing the Stockholm Agreement.
Earlier, the UN mission in Yemen said in a statement that both sides had decided to “immediately begin with exchanging the lists for the upcoming release” of prisoners, calling it the “first official large-scale” exchange of its kind since the beginning of the long-running conflict.
“Today the parties showed us that even with the growing challenges on the ground, the confidence they have been building can still yield positive results,” UN envoy Martin Griffiths said.