The vehicle was targeted near Mirzal checkpost in Bannu district in the country's northwest, with the blast killing one soldier on the spot, injuring 10 others. Two security personnel died on the way to hospital.
The injured has been shifted to the Combined Military Hospital, Bannu.
The Ansarul Mujahideen militant group of Taliban has claimed responsibility for the attack, the Dawn reported.
"As long as drone attacks are carried out in Pakistan, they would continue their attacks and targeting of security forces and the administrative machinery of the Pakistani government," the group's spokesman, Abu Baseer, was quoted as saying from an undisclosed location.