The U.N.-African Union mission, known by its initials UNAMID, said three Senegalese members of the peacekeeping force were killed and one other was injured when their convoy was ambushed.
Mohamed Ibn Chambas, joint special envoy for the mission, said Sunday's attack occurred on a same road where a UNAMID patrol was ambushed in October 2012.
"Such incidents are a reminder to all of us of the great price everyone pays in the absence of peace," he said in a statement.
At least 100 people were killed in August when conflict erupted between rival tribes in East Darfur state, one of the five western states that make up the troubled Darfur region. Chambas said the weekend attack was a grave criminal act but thanked Sudanese authorities for their help in tracking down any suspects.
UNAMID said Sudanese forces engaged in a gunbattle with the assailants, resulting in casualties on both sides.