U.S. drones fired six missiles and pounded a house and car in the Mir Ali subdivision of Pakistan's North Waziristan tribal region on Sunday.
Local villagers said the drone targeted a house where militants reportedly resided.
The villagers said a car has also been damaged in the attack.
Pakistani security officials based in the area said five U.S. spy planes were seen flying over the area during the attack.
A security official said five people had been confirmed dead and four others were injured in the attack.
There was no immediate information about the identity of the victims.
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Local residents however said besides Pakistani militants, members of al-Qaida and Afghan Taliban were also hiding in the area.
It was the second attack by U.S. drones in North Waziristan during the holy month of Ramadan.
Fourteen people, all believed to be militants, were killed in a previous drone attack at Dre Nishtar village of Shawal Valley of North Waziristan.
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Pakistan officials have for an end to U.S. drone attacks.
Ambassador Sherry Rehman, speaking to the Aspen Security Forum on Friday, said the drone attacks have already succeeded in damaging al-Qaida but are now only serving to recruit new militants.
"I am not saying drones have not assisted in the war against terror, but they have diminishing rate of returns," Rehman said, speaking by video teleconference from Washington.
"We will seek an end to drone strikes and there will be no compromise on that," she added.
Pakistan's spy chief, Lt. Gen. Zaheerul Islam, is expected to reiterate the demand in his first meeting with CIA Director David Petraeus, at CIA headquarters in Virginia, next week.
This article includes reporting by The Associated Press.
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