The CIA-operated unmanned plane fired two missiles at a house in Mir Ali area of North Waziristan which borders Afghanistan.
The death toll may rise as some of the injured were said to be in critical condition.
North Waziristan and South Waziristan tribal regions of Pakistan have been frequently targeted by US drones over the past few years.
Thousands of people have been killed in the unsanctioned attacks.
The issue of civilian casualties has strained relations between Islamabad and Washington with the Pakistani government repeatedly objecting to the attacks.
The UN has also condemned US drone strikes as a blatant violation of international law.
Philip Alston, UN special envoy on extrajudicial killings, said in a report in October 2010 that the attacks were undermining the rules designed to protect the right of life.
Alston also said he feared that the drone killings by the US Central Intelligence Agency could develop a “playstation” mentality.