Local news reports said the attacker fired at the soldiers from his car before being shot dead.
At least two people were injured in the attack, including one soldier who was shot in the neck and was transferred to the hospital in serious condition.
Israeli forces closed the DCO checkpoint, near the settlement of Beit El in the occupied West Bank, after the attack and banned Palestinian medics from approaching the area.
Protests against Israel’s ongoing occupation of the West Bank, including East Jerusalem, and the Gaza Strip have become increasingly violent in recent months.
Since October 1, Israeli forces or settlers have killed at least 165 Palestinians, including bystanders, unarmed demonstrators and attackers.
At least 25 Israelis have also been killed in attacks carried out by Palestinians.
Source: Al Jazeera