Taliban suicide bombers besieged a police station on Monday, killing six people near the militant stronghold of North Waziristan that borders Afghanistan, officials said.

Militants heavily armed with suicide vests, guns, grenades and rockets raided the police station in Kaki, 13 kilometres (eight miles) southwest of Bannu town which lies close to Pakistan's semi-autonomous tribal region.

Two of them blew themselves up during the clashes but a third managed to escape, the officials told AFP.

"Three militants attacked the Kaki police station. They killed three policemen and two civilians," the information minister for Khyber Pakhtunkhwa province, Mian Iftikhar Hussain, told AFP.

Hospital officials said another civilian later died of his injuries, taking the death toll to six.

"There were nine injured, including six policemen and three civilians. A wounded civilian later expired," said Mohammed Iqbal, who heads Bannu hospital.

Police said the attack lasted around an hour, during which the militants used guns, grenades and rocket-propelled grenades in an exchange of fire that damaged the police station, a nearby mosque, house and three shops.

Tehreek-e-Taliban faction claimed responsibility, saying the attack was to avenge the killing by police of a nephew of its founder, warlord Baitullah Mehsud who was himself killed in a US drone attack in 2009.

"We will continue such attacks against this secular government," spokesman Ehsanullah Ehsan confirmed to AFP by telephone from an undisclosed location.

Mehsud's nephew, himself a Taliban commander, was shot dead by police in Bannu last month, local police said.

President Asif Ali Zardari has strongly condemned the terrorist attack in Bannu.

Deploring the loss of precious lives in the incident‚ he has directed the concerned authorities to provide best possible medical treatment to the injured. He said such cowardly acts can not shake the government's resolve to wipe out the menace of terrorism.