The convoy was going from Spin Wa to Sheva when the bomb was triggered by remote control. The two security personnel were killed instantly. Fourteen others were injured in the attack.
One vehicle in the 20-truck convoy was destroyed by the blast.
Security forces cordoned off the area after the blast and launched a search operation.
US and Afghan officials describe North Waziristan Agency as a safe haven for Taliban and Al Qaeda elements.
Pakistan has resisted US pressure to launch a full-scale operation against militants in the region.
