The insurgents fired from hills at the police team when it was moving in a vehicle at about 2pm.
Parbatjhara police station officer incharge (OC) Narayan Chandra Barman and police driver of the vehicle Madan Rai were killed and two others injured in the incident.
The injured were admitted to hospital in a serious condition.
The police team was attacked when it was returning after meeting some members of NDFB (Ranjan Daimary) group which will take part in the September-30 ceasefire talks with the government in Delhi.