The International Organization for Migration (IOM) says at least 29 migrants were deliberately pushed into the sea by smugglers who did not want to get caught.
The organisation said it had found their shallow graves, dug by survivors, on a beach in southern Yemen along the Gulf of Aden.
Laurent de Boeck, the IOM chief of mission in Yemen, called the incident "shocking and inhumane".
The dead had been buried quickly by the survivors and the International Committee of the Red Cross were working with the IOM to appropriately care for the remains of the deceased, the IOM said.
The migration agency also released a statement saying the migrants were looking to reach other countries through Yemen.
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According to the IOM, the smuggler forced more than 120 people into the sea on Wednesday morning as their boat approached Yemen's coast. "Too many young people pay smugglers with the false hope of a better future". The migrants are vulnerable to abuse by armed trafficking rings, many of them believed to be connected to the armed groups involved in the war.
"The approximate average age of the passengers on the boat was 16", the migration agency said.
The smuggler has already returned to Somalia to pick up more people to bring them to Yemen on the same route, they told the IOM. In Ethiopia, tens of thousands have abandoned their homes in search of relief from a 10-month state of emergency imposed to suppress ongoing anti-government protests.
Around 55,000 migrants have left the Horn of Africa to come to Yemen so far this year, more than half of them under the age of 18 and a third thought to be female, the IOM estimates. "The suffering of migrants on this migration route is enormous".
More than 111,500 people landed on the country's shores a year ago, up from about 100,000 in 2015, according to the Regional Mixed Migration Secretariat, a grouping of global agencies that monitors such movements in the area.
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