The convoy of seven tankers was targeted near Sur Qamar area, about 10 kilometres from the Bab-i-Khyber on the main Peshawar-Jalalabad Highway in Khyber Agency's Jamrud district.
Some vehicles near the convoy also sustained minor damages, reports said.
The militants fired two rockets on the trucks and used heavy machine-guns and rifles to target the supply convoy, officials said.
They said a driver was killed in the attack while two others were injured.
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A heavy contingent of the paramilitary troops reached the spot and cordoned off the area. A search operation was also launched.
A similar attack on Thursday on a NATO supplies convoy had killed a truck driver near Jamrud bypass.
Trucks travelling through Pakistan to supply US-led forces in Afghanistan have frequently been attacked during NATO's 13-year intervention in the war-torn country.
International troops are winding down their operations and are expected to pull out from Afghanistan by this year end.