It was the second splashy SEAL Team 6 success in less than a year, following last May's killing of Osama bin Laden in Pakistan.
The SEALs encountered some degree of resistance from the kidnappers at the encampment, two U.S. officials said, and there was a firefight during an approximately 1- to 1 1/2-hour operation.
One defense official said it was likely that the SEALs killed the kidnappers rather than capture them because they encountered armed resistance or the threat of resistance.
The Pentagon was mostly tight-lipped about details on Wednesday, citing a need to preserve the secrecy that can give SEALs and other special operations forces an edge against the terrorists, criminals and others they are ordered to kill or capture around the world under hazardous and often hostile conditions.
Special operations forces, trained for clandestine, small-team missions, have become a more prominent tool in the military's kit since the Sept. 11, 2001, attacks. The Obama administration is expected to announce on Thursday that it will invest even more heavily in that capability in coming years.
After planning and rehearsal, the Somalia rescue was carried out by SEAL Team 6, officially known as the Naval Special Warfare Development Group, according to two U.S. officials who spoke on condition of anonymity to discuss a secret mission. The same outfit did the bin Laden mission, the biggest counter-terror success of Obama's presidency. It was not clear whether any team members participated in both operations.