The road they were travelling on is regularly the scene of explosions by improvised bombs blamed on jihadists.
Last month three Mali soldiers were killed in a similar attack near the central town of Boni.
Wednesday's landmine attack left six people injured, as well as the six dead, a local elected official told AFP.
"It was certainly a mine placed there by terrorists," he added, in reference to jihadist fighters.
A fellow local official confirmed the toll and said that one of the victims was a baby.
Mali has been struggling to return to stability after Islamist extremists took control of the north in early 2012, prompting a military intervention by France.
The extremists were routed in the French operation in 2013 but large stretches of the landlocked African state remain out of government control.
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