The pilgrims, who came from Latur on a month-long visit, were in their last phase of tour when the accident occurred at Fagupur.
Police said they were returning to Latur from Gangasagar when the bus hit a stationary truck at around 10 AM, killing three persons on the spot.
The 17 injured persons were discharged after administering first aid in a hospital.
The three deceased were identified as Sanjay Dankhan (42), Rajmati Balsetty (65) and Ajay.