"The U.S. provided advice, assistance and aerial surveillance during the mission", according to a statement from the command.
USA troops with Somali and Kenyan forces came under mortar and small-arms fire and one "partner force member" also was wounded in the attack about 350 kilometers (217 miles) southwest of the capital, Mogadishu, the us military said.
One "partner force member" also was wounded.
U.S. special forces came under attack Friday in Somalia during a joint operation with Somali and Kenyan forces.
Though U.S. -backed operations and airstrikes have dented al-Shabab, the militants have continued to carry out deadly attacks in Somalia, including a bombing in October of a year ago that left some 300 people dead in the capital of Mogadishu.
Four U.S. service members were killed in a militant ambush in the west African nation of Niger in October.
The operation is aimed to clear the Somalia-based extremist group al-Shabab from contested areas.
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Around 500 United States forces are stationed in Somalia.
Earlier this month, al-Shabab claimed a series of attacks across the country, according to the SITE Intelligence group.
The most recent U.S. casualty in Somalia occurred past year, when a member of the Navy SEALs was killed in a nighttime attack in Somalia.
Three of the four wounded USA service members were evacuated to receive additional medical treatment, the military said. The group was blamed for a truck bombing in Mogadishu in October that killed more than 500 people and raised concerns about its ability to build larger explosives. It was pushed out of Mogadishu in recent years but continues to control rural areas in the south and central regions.
This is the second U.S. military member to be killed in Somalia since the 1993 Black Hawk down incident that resulted in the deaths of 18 American soldiers.
Names are being withheld pending next-of-kin notification, officials said in a statement, adding that the command's thoughts and prayers are with the families and friends of the service members.