Charity AMREF Flying Doctors said the Cessna plane took off from Wilson airport on Thursday afternoon and was en route to Hargeisa in Somalia when it crashed and burst into flames at a residential building in Nairobi's Githurai area.
Kiambu County Commissioner Henry Wafula said six people on the plane were killed, including doctors, nurses and the pilot - as well as another two people on the ground, while two others were seriously injured.
Investigators have been despatched to the scene of the crash to establish its cause.