The attack occurred in the city of Bannu, which serves as a gateway to the North Waziristan tribal area, the main sanctuary for Taliban and al-Qaida militants in Pakistan. The city has been hit by repeated attacks over the year.
The militants began the attack by firing a rocket at the gate of the police station and tossing hand grenades, triggering a battle with police last lasted over an hour, said senior police officer Wagar Ahmed.
Three policemen and three civilians were killed in the attack, said Ahmed. The civilians were coming out of a nearby mosque when they were shot by the militants. Eight people were wounded, including three policemen and five civilians.
Three militants were killed during the attack and one escaped.
Pakistani Taliban spokesman Ahsanullah Ahsan claimed responsibility for the attack in a telephone call to The Associated Press from an undisclosed location.
Associated Press writer Ishtiaq Mahsud contributed to this report from Dera Ismail Khan, Pakistan.