"Strongly condemn the Maoist attack in Chhattisgarh. My tributes to the security personnel who were martyred. The sacrifices of these martyrs will not go in vain," he said.
"Bhima Mandavi was a dedicated karyakarta (worker) of the BJP. Diligent and courageous, he assiduously served the people of Chhattisgarh. His demise is deeply anguishing. Condolences to his family and supporters. Om Shanti," Modi tweeted.
Naxalites exploded an improvised explosive device (IED) in Chhattisgarh on Tuesday evening, killing BJP MLA Bhima Mandavi, his driver and three personal security officers in a forested part of Dantewada district, officials said.
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The Congress also condemned the killing of Chhatisgarh BJP MLA and four security personnel in the Chhattisgarh by the Maoists.
"The naxal attack in Dantewada, Chhattisgarh is very tragic. I pray to God for the peace to the departed soul and strength to the families of those killed," Gandhi tweeted.
The Congress, on its official Twitter handle, wrote, "We strongly condemn the Naxal attack on the BJP convoy in Chattisgarh. Our deepest condolences to the families of the brave security personnel and Shri Bheema Mandavi (sic)."
The Naxalites carried out "the meticulously planned attack" when Mandavi was hurrying to an election meeting just before the close of election campaign at 5 p.m. for the first phase of Lok Sabha elections starting on Thursday.
Director General of Police Giridhar Naik said five people had been killed and that only Baghel's vehicle was targeted in the convoy of vehicles in Kuakonda area.
Dantewada falls in the Bastar Lok Sabha seat which will go to polls in the first phase on April 11.
(With inputs from agencies)