The explosion occurred on Damboa road, around the NNPC depot in Maiduguri, the Borno State capital.
The attack was said have been carried out by two girls and a boy.
According to NEMA three petrol tankers were said to have been destroyed as a result of the explosion.
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“Three suspected suicide bombers died along Damboa Road, Maiduguri, as a result of an explosion which occurred in the early hours of Friday,” NEMA spokesman in the Northeast, AbdulKadir Ibrahim, said.
“Three petrol tankers were also burnt as a result of the incident. The fire has been brought under control while casualty evacuation has been concluded.
According to an eye witness, the attack targeted petrol tankers and the suicide bombers were the only victims.
The Borno state Police Commissioner, Damian Chukwu, said the corpses have been evacuated.
The ambush was the second in two days as a military convoy had been attacked the previous day, along the same Damboa road, which has recorded at least three bomb explosions in the past