The incident took place when the vehicle skidded and fell while negotiating a sharp turn near Gomal Zam en route to Tank district of Khyber Pakhtunkhwa province from Wana in South Waziristan tribal region.
The soldiers belong to paramilitary Frontier Corps.
A security official confirmed the accident and said the bodies were shifted to the FC Fort Murtuza in the same region.
It was the second accident in as many days as four security men were killed and 12 others wounded, when their vehicle had overturned in the Baka Khel area of Bannu district in Khyber Pakhtunkhwa.