The pilot-less aircraft rained missiles on a hideout in Loara Mandai area of Dattakhel in North Waziristan.
A security official said that militants linked with Hafiz Gul Bahadur group were targeted which killed six militants.
He said local commander Mustafa was also killed in the attack.
It was first drone attack in Pakistan after the Peshawar school massacre which killed 148 people, mostly students.
Pakistan opposes the US drone strikes as violation of its sovereignty.