Qatar has committed hundreds of troops, as well as helicopters and armored vehicles, to a Saudi-led coalition.
The group is backing forces loyal to exiled Yemeni president Abd Rabbuh Mansour Hadi, who are fighting Houthi rebels.
Al Attiyah’s visit follows several days of confusion about the future role of UAE troops in Yemen.
Last week, Sheikh Mohammed bin Zayed Al Nahyan – Abu Dhabi’s crown prince and deputy supreme commander of the UAE armed forces – published a tweet that quoted the country’s Minister of State for Foreign Affairs Anwar Gargash, as saying the “war is over” for the Emirati troops.
“Our standpoint today is clear: war is over for our troops; we’re monitoring political arrangements, empowering Yemenis in liberated areas”
— محمد بن زايد (@MohamedBinZayed) June 15, 2016
However, Gargash later said his comments were “taken out of context.”
The Saudi-led coalition has previously said it respects international humanitarian law.