The convoy came under attack near Razmak town, more than 50 kilometres (31 miles) south of Miranshah, the main town in the North Waziristan district along the Afghan border, officials said.
"The convoy was moving from one area to another when Taliban militants attacked it, killing five soldiers and wounding three others," a security official in Peshawar told AFP.
Another security official in Miranshah confirmed the incident, saying militants were armed with rockets and automatic weapons.
"They also hurled grenades in the attack," the official said.
Troops retaliated immediately with small and heavy weapons but there was no report of Taliban casualties, he added.
