Three others were injured when the CIA-operated spy plane fired two missiles at the compound in Datta Khel area near the Afghan border, security officials in the region said.
The strike destroyed the house, witnesses said.
This was the first US drone strike since Pakistan restored supply lines for NATO troops in Afghanistan on Tuesday.
It was also the second drone strike in North Waziristan Agency in a week. A US drone had killed eight persons in Shawal area on July 1.
Today's strike came days after Pakistani leaders said talks were continuing with the US on ending the drone campaign following the reopening of NATO supply routes to Afghanistan.
The Foreign Office said yesterday the US drone attacks were counter-productive and a violation of Pakistan's sovereignty.
The US has rejected calls from Pakistan to stop the drone strikes, insisting that the spy planes are effective in eliminating al-Qaeda and Taliban elements hiding in the tribal belt.