Twenty people, including another Malian soldier and several UN peacekeepers were injured in the attacks.
The first attack happened in the morning in the northeastern Menaka region and claimed the lives of three peacekeepers and a Malian soldier, MINUSMA said, adding that 16 other UN troops and a civilian were injured.
It did not give the nationalities of the UN forces involved but contingents from Togo and Nigeria are deployed in the area.
Several of the attackers were killed and others wounded, the UN force added.
"This operation to protect civilians in the region also aimed to bring medical assistance to people in need," the head of MINUSMA, Mahamat Saleh Annadif, said in the statement, condemning the attack.
He praised the "bravery" of the peacekeepers and soldiers who "neutralised several terrorists" and called for vigilance and unity in the face of "the cowardice of our adversaries," referring to jihadists groups in Mali's restive north.
The second attack targeted a MINUSMA convoy in the central Douentza area. One UN blue helmet was killed and three others seriously injured, according to the UN mission.
On October 26, three Chadian peacekeepers in the UN force were killed when their vehicle hit a landmine and a fourth one later died of his injuries.
Mali's situation has been particularly volatile since 2012 when jihadist groups captured the entire north of the country, but were pushed back by a military intervention by France in 2013.
However, large swathes of the country remain outside the control of Malian and foreign forces.
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