Area County Commissioner Peter Thuku said the attack occurred at the remote village of Buluk in Dukana area, where militiamen fought counter accusations of cattle theft.
Twelve other people who were injured in the skirmishes were admitted to hospital in Mandera.
“Five bodies have been found at the scene but the four other people are listed as missing,” he said.
Thuku said they had deployed more police officers to the affected area to enhance security and look for the attackers.
President Uhuru Kenyatta has assured that his government is committed to ending cattle rustling in Northern Kenya and parts of Rift Valley where such incidents are rampant.
Two weeks ago, 22 police officers were ambushed in Kapedo, Turkana and killed by cattle rustlers who also stole their firearms.
President Kenyatta has deployed the military to conduct a joint security operation with the police and have since recovered 18 firearms.