The leader of Yemen's Houthis has offered to release a Saudi pilot and four officers in exchange for alleged Hamas operatives detained in the kingdom.

Speaking on the fifth anniversary of the Saudi-led war in Yemen, Abdul Malik al-Houthi denounced the kingdom for detaining Palestinians and Jordanians linked to Hamas, saying Yemenis stood with the Palestinian people against "conspiracies".

"We are ready for peace and stopping the war if the aggression [Saudi-led coalition] is serious in stopping the aggression and siege," Houthi said on Thursday according to the Houthi Al Masirah TV network.

The Houthi offer comes as Saudi Arabia continues to hold 68 Palestinians and Jordanians linked to Hamas on terrorism charges.

According to reports, one person was jailed after he was caught in possession of bottles of Palestinian olive oil, a second because he sent sheep to people in Gaza for the Muslim holiday of Eid al-Adha, and a third over possession of a book on the history of Palestine by Kuwaiti writer Tareq al-Suwaidan.

Earlier this month, Hamas issued a statement denouncing the trial, describing the process as "unjust".

"The Palestinians arrested by the Saudi state security police have committed no crime other than having the honour of defending Jerusalem and Al Aqsa Mosque," the statement said.

The war in Yemen has killed more than 100,000 people and forced more than 18 million to rely on aid groups for their survival.

Agencies