The violence took place while villagers were attending church on Sunday, the Daily Trust of Abuja, Nigeria's capital, reported Tuesday.
A public relations officer for Benue State said police have been sent to the area to restore peace following the attacks.
A local official told the Nigerian Tribune of Ibadan, Nigeria, that the attacks may be linked to cattle grazing.
"If you newsmen will recall mid last year, the same Fulani people attacked our villages and killed many of our people," said Joseph Mom, president of Tyoch'a Association in the council area.
Mom said Fulani herdsmen want to forcibly convert the area to grazing zones for cattle.
Several of the villages and farm settlements were burned by the invaders, the Guardian of Oshodi, Nigeria reported.