The incident occurred 11 kilometres (six miles) south of Aguelhoc-Anefis in Kidal region, the UN force in Mali, MINUSMA, said in a statement.
The vehicle was part of a supply convoy, MINUSMA said. It did not give the nationalities of the casualties.
Less than three hours later, a MINUSMA vehicle was damaged by a roadside bomb near the town of Kidal while on patrol about two kilometres from the mission's base, but no-one was hurt, the statement said.
An Islamist takeover of northern Mali in 2012 triggered a French military intervention to pull the country back from the brink of collapse.
The UN deployed peacekeepers in July 2013, but the mission has been a relentless target for attacks.
Twenty-eight have been killed so far this year, according to a toll compiled by AFP.
On June 29, the UN Security Council decided to send an additional 2,500 personnel to bring MINUSMA up to a maximum level of 15,200 troops and police and provide for modern equipment and fast-response units.
The state of emergency has been extended several times. It will last until March 29 2017 under a legislative decision on July 31.
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