Seven other peacekeepers, also from Togo, were wounded in the attack in the central Mopti region yesterday, according to the statement by the UN mission, known by the acronym MINUSMA.
After a mine or improvised explosive device was detonated, attackers opened fire on the convoy, the UN said, without identifying the assailants.
A MINUSMA spokesman said Malian police would investigate the death of the two civilians, who were following the convoy.
UN Secretary General Ban Ki-moon condemned the killings "in the strongest terms" and warned that "attacks targeting United Nations peacekeepers may constitute war crimes under international law."
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"Attacks against MINUSMA will not weaken the determination of the Mission to fully implement its mandate in support of the efforts of the Malian Government, the parties to the peace agreement and the people of Mali to achieve lasting peace and stability" Ban said in a statement issued by his spokesperson.
He died of his injuries following a mine blast near the northern town of Kidal in an attack claimed by the Islamist group Ansar Dine, which has ties to Al-Qaeda.
French Defence Minister Jean-Yves Le Drian yesterday called on Mali's president to take action to establish peace in the country's restive north.
"I stress regularly to President Ibrahim Boubacar Keita that he must take the necessary initiatives to ensure the integration of the people of the north into the Malian community," he told French media.
"We have been working on national unity for a long time. Unity should go hand in hand with the fight against terrorism, insecurity," the minister said.
"The situation in Kidal is not because of the Malian government."
However, the Malian president convened an emergency meeting and instructed security forces to take more mobile positions in several parts of the country, especially the north.
"The state will provide the means needed to fight against terrorism," one participant at the meeting said.