The driver of the bus lost control over the vehicle and it fell into the river after breaking the railing of the bridge, the police said.
The bus was taking pilgrims from the towns of Uttar Pradesh and Madhya Pradesh to Ramdev temple on the Rajasthan-Madhya Pradesh border.
More than 111,000 thousand people die in road accidents each year in India, the highest toll in the world. All the injured people have been shifted to the nearby hospitals for treatment.
The bus being pulled out of the Banas river on Saturday. Many of them were going to pay a visit to a temple in Malarna Chour in the district, Sawai Madhopur Superintendent of Police Mamman Singh told PTI.
Out of the seven injured, one is said to be critical. The incident took place early on Saturday when the bus, carrying around 45 passengers, was on its way to Lalsot from Sawai Madhopur. The exact cause of the accident will be ascertained after an inquiry.
Prime Minister Narendra Modi said in a statement that he was "anguished" by news of the crash.
Chief minister Vasundhara Raje also expressed grief over the accident.
President Donald Trump speaks to the media during a Cabinet meeting at the White House December 20, 2017 in Washington , DC. "Mr. USA federal Judge Linda Reade hit Rubaskin with a sentence of 27 years, two more than prosecutors had requested.
Conditions will be cloudy, with a high near 52 and west winds from 5 to 7 miles per hour , becoming north in the afternoon. Tonight: Chance of drizzle early pm, cloudy - low around 42 with southeast wind 5 to 7 miles per hour .
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