Security agencies and local government officials said the militants first blocked a vehicle carrying the medics at around 9a.m.(0600 GMT) before opening fire on the police officer who was guarding the medics and killing him on the spot.
“They were ambushed on the road as they headed for work. We suspect they have crossed the border into Somalia,” said a police officer who declined to be named.
The security officer said a major security operation has been launched in the border region in search of the victims.
Witnesses said the two doctors were in a government vehicle before the militants drove off to an unknown destination.
The Cuban medics have been working in Kenya since June 2018 as part of a bilateral arrangement between the two governments. Under the agreement, about 100 Cuban specialist doctors including plastic surgeons and neurologists have been deployed across Kenya.
The latest abduction came as Kenyan security forces intensified their search for an Italian woman kidnapped on Nov. 20, 2018 by unknown gunmen in the coastal town of Malindi.
The 23-year-old woman and her kidnappers are still in a forest in the coastal region and negotiations are underway for her release.