The clash in Ghulam Khan area of North Waziristan started when troops raided hideouts of the militants on a tip-off.
A security official said nearly 20 militants fired on the security forces which resulted in an exchange of fire.
Five militants were killed in the raid while two soldiers also lost their lives, the officials said.
The toll could not be verified through independent sources.
Pakistan launched operation in North Waziristan last year and so far it has killed more than 1,500 militants.