The attack took place just before sunset yesterday in a village in Shawal area, some 50 kilometres west of Miranshah, the main town of restive North Waziristan, a stronghold of Taliban militants along the Afghan border.
Seven people were killed in the drone strike, officials said.
Pakistan today strongly condemned the attack, describing it as violation of its "sovereignty".
"These unilateral strikes are a violation of Pakistan's sovereignty and territorial integrity. Pakistan has repeatedly emphasized the importance of bringing an immediate end to drone strikes," Foreign Office spokesman Aizaz Chaudhry said in a statement.
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Pakistan says that drone strikes are counter-productive as they cause civilian deaths and have human rights and humanitarian implications.
Aizaz said the drone strikes have a negative impact on the mutual desire of both countries to forge a cordial and cooperative relationship and to ensure peace and stability in the region.
Pakistan regularly issues condemnations after each attack but so far it had failed to stop the strikes. There are reports that due to opposition from Pakistan, the US has scaled down the attacks which have killed hundreds of people.
US has so far refused to provide sensitive knowhow fearing that it may eventually be passed to the Chinese.