A soldier sustained injuries during the 9am incident at Milimani, near Baure, said Kenya Defence Force spokesman David Obonyo.
Soldiers recovered a rocket-propelled grenade, four AK-47 assault rifles, an improvised explosive device and two hand grenades.
Heavily armed militants had attacked a KDF camp at Mangai on Tuesday evening and contingents that pursued them caught up with them at Milimani.
Colonel Obonyo described the earlier incident as a “probing attack", usually conducted by enemy combatants to test troops preparedness.
He said: “Following the fire fight, four Al-Shabaab militants were killed. KDF wishes to assure the public that operations against the Al-Shabaab will continue until all the terrorists are eliminated to ensure that that the locals continue to enjoy peace and security.”
This is the second attack on security officers in barely two weeks.
Last week, on June 20, 2016, five police officers escorting a passenger bus from Mandera were killed by Al-Shabaab militants after their vehicle was hit by a rocket-propelled grenade near the Somalia border.
The militants stole three rifles and 180 rounds of ammunition.
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