During the gun attack, at least two drivers were killed while two other persons were kidnapped, officials said.
NATO vehicles are frequently targeted by militants while carrying goods to and from Afghanistan.
Three separate attacks on NATO vehicles last week had left a man dead and three others injured. The attacks had taken place in the Jamrud region of the Pakistan-Afghanistan Highway.
On April 15, two people were killed and as many severely injured in Jamrud when unidentified militants attacked vehicles supplying goods to foreign troops stationed in Afghanistan.
Last month, two drivers of vehicles carrying NATO goods were killed and a cleaner injured when armed men opened fire in Sur Kamar area of Jamrud.
In December last year, a group of armed men had attacked two containers carrying relief goods for NATO in the Dhadar area of Balochistan. No one was hurt in the attack.