The warplanes had bombed two camps in Gondodowe and Ismail, both in the Gedo region, used by al-Shabab to cross into Kenya, military sources say.
This is Kenya’s first response to an al-Shabab assault which left 148 people dead at Garissa University last week.
President Uhuru Kenyatta had vowed to respond to the attack “in the severest way possible”.
Al-Shabab said the assault in Garissa, which is 120 miles from the Somali border, was revenge for Kenya sending troops into Somalia to fight alongside African Union peacekeepers against the group.
The Islamist group, which at one point controlled most of Somalia, has lost swaths of territory in recent years but diplomats have repeatedly warned this has not diminished its ability to stage guerrilla-style attacks at home and abroad.
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