I just figured out the answer myself and am sharing here for others.
filename = 'Filter_Output.txt';
q = quantizer('fixed', 'nearest', 'saturate', [10 0]);% quantizer object for num2hex function
FID = fopen(filename);
dataFromfile = textscan(FID, '%s');% %s for reading string values (hexadecimal numbers)
dataFromfile = dataFromfile{1};
decData = hex2num(q, dataFromfile);
decData = cell2mat(decData);
fclose(FID);