"Due to increased unrest in Libya, a contingent of US forces supporting US Africa Command [AFRICOM] temporarily relocated from the country in response to security conditions on the ground", said a statement from the command, which is headquartered in Stuttgart, Germany.
Waldhauser did not discuss where the US forces have been relocated.
The self-styled Libyan National Army, led by Field Marshal Khalifa Hifter, launched a surprise offensive against the capital last week, a move that could potentially drag the country back into civil war.
Hafter's media office said in a post online that they took full control of the Tripoli global airport and were working to secure the facility.
On Saturday he said pro-Haftar fighters were "progressing on several fronts.as planned" and that Tripoli would soon be captured.
Al-Mesmari said Hifter's forces declared Tripoli a no-fly zone for warplanes.
Libya: Fierce battles near capital Tripoli.
The LNA said it has reached the southern outskirts and has taken the disused global airport, 24 kilometres from central Tripoli, but GNA military reportedly refuted this.
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In a televised address the head of the UN-backed government, Prime Minister Fayez al-Sarraj, accused General Haftar of launching a coup.
It was hoped that a conference on holding national elections would be held soon, but that may be in question now as hostile forces sit in a position to potentially expel the UN-backed Government Of National Accord from their own capital.
He said no causalities were reported from the airstrikes, and that General Hifter's forces declared Tripoli a no-fly zone for warplanes.
USA special forces were sent to Libya several times in recent years, with a series of raids to capture Libyans accused of terrorism.
Libya's unity government was created at UN-backed talks in 2015 but it has struggled to assert control, while a number of global initiatives since have failed to unite the country.
Capitalising on that success, his forces in January launched a new offensive into the oil-rich desert south, ostensibly aimed at wiping out "terrorists" and criminal groups.
The Health Ministry of the Tripoli-based government said in a statement that at least 21 people, including a physician, were killed and at least 27 wounded.
The UN Security Council held a close-door meeting late on Friday. Dozens of militias have poured into Tripoli from cities such as Misurata and Zintan to join forces with pro-government militias to fend off Hifter.
Haftar is "motivated by personal interests and his own delusions" and is trying to "plunge the country into a cycle of violence", said Sarraj.