The drone fired two missiles into a compound in the Shawal mountain range in Pakistan's unstable North Waziristan, CNN reported.
Those who were killed in the attack are believed to be members of the Pakistan Taliban, said Muhammad Amin, a senior government official from the region.
North Waziristan, a tribal region along the Afghan border, is believed to have a high concentration of militant groups, CNN said, and has been the target of numerous drone attacks.
Drone attacks in the region have dropped significantly since November, when a NATO airstrike killed 24 Pakistani soldiers near the Afghanistan border.
Saturday's drone attack was the second of such attacks since Pakistan approved a list of guidelines that includes a call for an immediate end to U.S. drone attacks.
The list of parliamentary recommendations states future relations between Pakistan and the United States should be based on mutual interest and that no overt or covert operations will be allowed on Pakistani soil.