The missiles struck a compound in the village of Spalga near Miranshah, near the Afghan border on Thursday.
Pakistan has previously complained that such attacks violate its sovereignty.
Last month US President Barack Obama defended the use of drones to target militants in Pakistan’s tribal areas.
Security officials said several other militants were wounded, although the exact number could not be established.
The attack was confirmed by two other Pakistani security officials in Miranshah, an AFP report said.
The area in the North Waziristan region is known as a sanctuary in Pakistan for the Taliban and Al-Qaeda-linked militants.
Another drone attack last week hit a house in Spalga, killing at least nine people, including some Pakistani Taliban militants, intelligence officials said.
The US does not normally comment on drone operations, which have killed hundreds of people in recent years.
This most recent attack comes a week after officials said one of the most senior al-Qaeda militants in Pakistan, Badar Mansoor, was killed in a US drone strike.
Islamabad is due to host talks on the same day with leaders of Afghanistan and Iran at a tripartite summit to discuss counter-terrorism cooperation and strengthening regional stability.