The attack was targeted at the Nigerian army's 27 Task Force Brigade in Yobe state.
About 50 Boko Haram fighters have surrendered since December as anti-terror regional offensive continues.
Rakiya Abubakar was one of 276 schoolgirls kidnapped by Boko Haram from Chibok village in April 2014.
Nigeria claims Sambisa forest offensive 'final crushing of Boko Haram' but attacks blamed on group continue.
Nigerian President Muhammadu Buhari had said on Christmas Eve that the extremist group had been defeated.
Announcement comes days after Islamist group Boko Haram lost major stronghold in Nigeria.
The camp in Sambisa Forest is believed to be the terror group's last stronghold in the region.
Operation Lafiya Dole resulted in recapture of several territories held by Isis-affiliated terrorists.
IBTimes UK speaks with wife of pro-Biafran speratist leader as trial on treason continues in Nigeria.
Analyst tells IBTimes UK Boko Haram could exploit unrest in anglophone Cameroon, marred by protests.
Local reports suggest the girls involved in the attack in Maiduguri were aged seven or eight years-old.
Boko Haram renowned for forcing civilians on suicide bombing missions in crowed areas like Madagali market.
Thousands killed and millions displaced in Nigeria's north-east due to seven-year-long Boko Haram insurgency.
Decision comes as US refuses to sell arms to Nigeria due to alleged human rights abuses committed by army.
Some women, frustrated by poverty and deep-rooted patriarchy, have chosen to join the jihadist group.
Boko Haram blamed for the death of at least 20,000 people and the displacement of millions.
IBTimes UK interviews photographer Fati Abubakar on daily life in Borno, ravaged by Boko Haram insurgency.
Boko Haram has been carrying out attacks in northeastern Nigeria and neighbouring countries since 2009.
Nigeria-based Boko Haram renowned for forcing civilians to carry out suicide-bombing missions.
Isis seized Qandala town in October – marking the first time the group captured territories in East Africa.
Offensive has scored some successes, but intelligence warns insurgents fleeing to Taraba state.
Nigerian army and police are foiling most of the attacks planned by Boko Haram militant group.