A US drone strike killed five militants on Tuesday, targeting a vehicle travelling through Pakistan's Taliban and Al-Qaeda infested tribal belt on the Afghan border, local officials said.

Pakistanis said the attack took place in the remote Drey Nishtar area of South Waziristan, part of Pakistan's semi-autonomous northwestern tribal belt that Washington considers a global hub of Taliban and Al-Qaeda militants.

"A US drone fired two missiles into a vehicle. Five militants have been killed," one Pakistani security official told AFP on condition of anonymity because he was not authorised to speak to the media.

Another security official confirmed the attack and casualties, saying that the far-flung and mountainous Drey Nishtar lies on the Afghan border where militants try to cross into Afghanistan to attack NATO troops.