This comes less than two weeks after the insurgents tried to capture Maiduguri but were successfully repelled.
The Civilian Joint Task Force (CJTF) were said to have fought alongside the military to defend Maiduguri against Boko Haram insurgents.
The insurgents engaged the Nigerian military in a gun battle for hours, but the troops recorded victory.
After successfully repelling the insurgents, the military and members of the CJTF returned to a jubilant crowd in the city.
The spokesperson of the Defence Headquarters, Major General Chris Olukolade, disclosed that at least 500 people, most of them Boko Haram terrorists, died during the gun battle between them and the Nigerian military.