Militants in seven trucks attacked Bulaburin and Kofa villages as well as a camp in a village outside the Borno state capital of Maiduguri late on Wednesday, residents said Thursday.
"The terrorists attacked and completely burnt Bulaburin and Kofa villages and burnt half the Dalori two IDP (internally displaced persons) camp," said militia leader Babakura Kolo, Presstv Reported.
In the village of Kofa, local residents counted five bodies burned inside the remains of their house.
A village chief in nearby Dalori said one person had been killed. Two residents of Bulaburin said nine people had died there.
Nigeria's military said in a statement one civilian was found dead after militants had ransacked Dalori's market, setting buildings ablaze and fleeing when soldiers approached.
Dalori, which is about 15 kilometers from Maiduguri, houses about 50,000 people in makeshift camps.
In January 2016, at least 85 people were killed when militants stormed and torched the Dalori village and tried to gain access to the camps.
Despite the Nigerian government's statements since late 2015 that Boko Haram had largely been defeated, militants are still able to attack throughout much of the northeast.
In recent months, Boko Haram has carried out major attacks on military targets, killing dozens.
Nigerian President Muhammadu Buhari, a former general, came to power in 2015 on a platform to stamp out the Boko Haram militancy, but the militants continue to stage attacks targeting both civilians and military targets.
Since 2009, the Boko Haram militancy has left at least 20,000 dead and made over 2.6 million others homeless.
The United Nations warned late last year that areas affected by the Boko Haram militancy face a humanitarian crisis.
Adamawa, Borno and Yobe in northeast Nigeria are the three states most affected by the Boko Haram militancy.