A group of armed men believed to be Toposa from South Sudan attacked the village of Kibishu in Turkana province and fled with an unknown number of livestock.
The herders were grazing their animals in Lollapad Hills on Tuesday evening when they were attacked by assailants, police said.
A team of police reservists responded and engaged in a gunfight with the gang.
Police said they recovered four cows, but more were chased away by armed groups.
Officials said the attackers had entered South Sudan, but security teams were still hunting them and the stolen animals on the ground.
Police suspect the gang may have fought back after an earlier attempt that left one attacker dead was thwarted.
On Sunday, a suspected assailant was shot dead during a cattle rustling attempt that went awry in Kibishu.
Two herders were shot and injured in Sunday night's clashes, police said.
According to police, the armed group attacked the village of Attapal, sparking resistance from herders supported by police reserve personnel.
The area lies close to the porous Kenya-South Sudan border, and such attacks are common.
The injured were taken to Lobrono Health Center and then referred to Lodwar Teaching and Referral Hospital for special treatment.
Police said no livestock was stolen, but the other attackers fled.
Continued operations are underway in the region as more resources are promised to step up the exercise.
Last month, Interior Minister Kisre Kindiki commissioned the first batch of modern safety equipment to strengthen operations in areas affected by cattle rustling.
This includes armored personnel carriers (APCs), mine-resistant ambush protected vehicles (MRAPs), and armored unmanned aerial vehicles (UAVs).
Operation Mariza Ukharif in the North Rift was launched in February 2023 following continued violence by bandits.
The operation is led by the police, supported by the military with a multi-agency security team, including volunteer police reservists acting as replacement forces in the area.
Kindiki visited the region last month and announced that the security situation in Turkana had improved since the start of Operation Mariza Ukharif.
The recruitment, training and deployment of police reservists has also significantly strengthened the efforts of organized forces of security agencies, resulting in normalization of the previously insecure Kitale-Lodwar Expressway and other areas of Turkana.
However, Kindiki said occasional attacks in areas adjacent to the Turkana-West Pokot border and in several locations near Kenya's borders with Uganda and South Sudan remain an unresolved problem, and the government is aims to deal with it.
