The Bundeswehr said the attack took place Tuesday afternoon against the German-led convoy in northern Mali, about 80 kilometers to the northeast of the city of Gao.
The roadside bomb hit a German vehicle driven by Irish troops, slightly injuring three people. No German soldiers were injured.
Irish soldiers were evacuated by Romanian helicopters to Gao for treatment in a German hospital, the Bundeswehr said.
The United Nations peacekeeping mission in Mali, MINUSMA, was established in 2013 to help stabilize the Sahel nation.