"Should any other military ship make a foolish attempt to stop them or act aggressively, the results will be unexpected and unwanted," the captain's mate on the Shahed cargo ship said.
The Iranian warships, a destroyer and a support vessel, will escort the Iranian aid ship until it arrives in the port of Hodeidah in western Yemen. Some warn, Saudi Arabia forces could try to intercept the cargo ship, since Saudi Arabia imposed a naval blockade of Yemeni ports.
Yemen has been engulfed in violence since late 2014. The Saudi-led air campaign was launched at the request of President Hadi, who fled the country amid hostilities after the Houthis took control of large areas of the country, including Sanaa.
The Saudi-led coalition's air campaign has killed over 1,600 people, injured more than 6,000 and displaced tens of thousands more, according to the UN estimates.