Shots were also fired near the US consulate in the northwestern city of Peshawar and an unknown number of gunmen were surrounded in a building but there had been no casualties, authorities said.
The drone attack, in the Kurram ethnic Pashtun tribal region, was the latest in a US campaign aimed at eliminating Al-Qaeda and Taleban militants who base themselves in northwest Pakistan and attack U.S-led forces in Afghanistan.
"There were attacks in three different places on Friday evening," said a government official in the region, who declined to be identified.
Two of the missiles hit vehicles carrying suspected militants. It was not clear if the three attacks were carried out by one or more aircraft, they said.
The identity of the five dead was not known while several suspected militants were wounded, the officials said.
US ally Pakistan officially objects to the attacks by pilotless drone aircraft, saying they violate its sovereignty and enrage the Pashtun tribes in the lawless border regions, complicating its efforts to stamp out militancy.
But Pakistan has cooperated in planning at least some of the attacks, officials from both countries have said.
Several senior Al-Qaeda and Taleban leaders have been killed in the strikes, including the leader of Pakistani Taleban militants, Baitullah Mehsud, last August.
In Peshawar, the main city in the northwest where there have been numerous militant attacks in recent years, security forces had surrounded a building where gunmen who had earlier fired some shots were holed up, a senior official said.
The gunmen's target was not immediately clear. The US consulate and its staff have been attacked twice in the past couple of years.
"Everyone is their target," said provincial government minister Bashir Bilour. "You are the target, we are the target, army, police, Americans — all are their targets."
 

In northwest Pakistan, suspected militants attacked an army intelligence office Saturday, setting off a gunbattle that paralyzed parts of the city.
Captured militant suspects were being questioned in the office at the time of the attack, two local police officials said, speaking on condition of anonymity because of the sensitivity of the information. It was not clear, though, if the attack was tied to the questioning.
Bashir Bilour, a senior minister in the province, said the shooting began when militants tried to enter the building, but security forces fended off the attack.
"They have been surrounded and so far there are no casualties," he told reporters.
The area around the office was sealed off soon after the attack, which began about 6 a.m. Sporadic gunfire could still be heard more than five hours later, shutting down blocks of the city.
Peshawar is the capital of troubled Khyber Pakhtunkhwa province, where militants often target police and security forces.
The area where the assault happened is near the American Consulate, but police said that building was not the target. TV footage showed commandos and police surrounding the consulate and checking vehicles.