The drone hit a vehicle near Wana, headquarters of South Waziristan, security sources said.
"The government of Pakistan condemns the US drone strike that took place in Wana, South Waziristan" Sunday afternoon, Xinhua quoted Pakistani foreign ministry as saying.
"Pakistan believes that such strikes constitute a violation of its sovereignty and territorial integrity and demands their immediate cessation."
The government of Pakistan is already taking decisive action against terrorist elements, the ministry added.
Sources in the region said that those killed in the attack include an Arab national, Abu Turab Arabi and a local Taliban commander Abdul Hafeez.