INS Trishul and INS Aditya escorted MT Compass and MT Thalatta through waters near the Bab-el-Mandeb Strait.
The Navy has stepped up maritime security amid Houthi threats and a recent attack on an Indian-flagged vessel.
The Bab-el-Mandeb remains a key route for international trade and energy shipments between the Red Sea and Gulf of Aden.