Besides an initial toll of four dead it said saying another Malian soldier and several other peacekeepers were wounded, some critically, a MINUSMA statement said.
"This morning, a detachment of the MINUSMA force repelled an attack during a coordinated operation with FAMAS (Malian armed forces) in the Menaka region," the statement said.
It did not give the nationalities of the UN troops involved but contingents from Togo and Nigeria are deployed in the area.
Several of the attackers were killed and others wounded, it added.
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He praised the "bravery" of the peacekeepers and soldiers who "neutralised several terrorists" and called for vigilance and unity in the face of "the cowardice of our adversaries," referring to jihadists groups in Mali's restive north.
On October 26 three Chadian peacekeepers in the UN force were killed when their vehicle hit a landmine and a fourth one later died of his injuries.
Mali's situation has been particularly volatile since 2012 when jihadist groups captured the entire north of the country, but were pushed back by a military intervention by France in 2013.