Aid shipments of food and medicines to the rebel-held Red Sea port of Hodeida continue to be blocked by the coalition.
It was not immediately clear, however, if port operations will return to the pre-blockade level.
In an interview just before the coalition made the announcement, McGoldrick told The Associated Press that a continued blockade would make Yemen's long-suffering population more vulnerable to cholera and starvation.
Some 17 million Yemenis are in desperate need of food, seven million of whom are at risk of starvation, according to United Nations figures.
The United Nations says that unless the blockade is lifted, Yemen faces "the largest starvation the world has seen for decades". "At least 14.8 million are without basic healthcare and an outbreak of cholera has resulted in more than 900,000 suspected cases".
In this July 12 file photo, a boy rinses a bucket as he and others collect water from a well that is allegedly contaminated with cholera bacteria, on the outskirts of Sanaa.
The coalition had said it would lift its blockade of the port from Thursday but it remains in place.
The airport had been open to only select humanitarian flights.
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Seven million Yemenis are completely dependent on relief supplies for their survival, according to the UN. The brief opening of the blockade for humanitarian deliveries also meant opening the Sana'a airport in Yemen's capital city.
Girls react as they stand near their damaged house at the site of a Saudi-led airstrike near in Sanaa on November 11.
An official from the rebel-run civil aviation authority confirmed that the flights had landed.
The UN Children's Fund said Saturday's flight was carrying more than 15 tonnes, or 1.9 million doses, of vaccine for diphtheria, tetanus and other preventable diseases.
The remarks came as Yemen's defenseless people have been under massive attacks by a coalition led by the Saudi regime for almost three years but Riyadh has reached none of its objectives in Yemen so far.
Saudi and US officials have said that the missile fired by the Houthis was manufactured in Iran.
In response, ships were ordered to leave the Red Sea ports of Hodeida and Salef, the only lifeline to northern Yemen where most of the population lives. The UN said in August that more than 20 million people are at risk from starvation in Yemen, Somalia, South Sudan and the northeast of Nigeria.
Worldwide aid groups have welcomed the decision to let aid in, but said aid flights are not enough to avert a humanitarian crisis.
Since Nov. 6, the United Nations and global aid agencies have repeatedly urged the coalition to lift the Yemen blockade.