He asserted that those who committed this "cowardly act" will be brought to book, a Defence Ministry statement said.
The Army will continue to work towards bringing peace and normalcy to the state, he stressed.
Parrikar also conveyed his deepest condolences to the bereaved families of the armymen who lost their lives, it said.
A group of militants using rocket-propelled grenades and automatic weapons ambushed the military convoy in the worst such attack in recent years.