A military vehicle "en route to the airport in Menaka hit an improvised explosive device this Sunday," the army said on Twitter.
An unspecified number of soldiers were also injured and stabilised at facilities operated by the multinational Takuba force, a European military unit involved in anti-jihadist operations.
The Menaka region, close to the Niger border, is prey to regular Islamist militant attacks.
Since 2012, it has experienced a surge in deadly violence from jihadist groups linked to the Islamic State, along with intercommunal clashes.
Improvised explosives have been used by jihadists operating in the area against Malian, French and other international forces.
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