He also urged the Sudanese government "to conduct a full investigation into this incident."
The UNAMID is tasked with protecting civilians, promoting an inclusive peace process and helping to ensure the safe delivery of humanitarian aid across Darfur.
The United Nations Security Council members have strongly condemned the weekend’s attacks on peacekeepers in South Darfur in Sudan.
In a statement released on Tuesday, the Security Council called on the government of Sudan to swiftly investigate the incident and bring the perpetrators to justice.
On Sunday, one UN peacekeeper from Bangladesh was killed and another one was injured by armed men in Nyala, South Darfur.
The armed men reportedly fled after the police unit returned fire.
The Security Council members reiterated their full support for the African Union-United Nations Hybrid Operation in Darfur (UNAMID).
On Monday, UN Secretary General Ban Ki-moon condemned the attacks on peacekeepers.