The incident occurred this afternoon when the victims were on their way to a cremation ceremony, Superintendent of Police Rural Yamuna Prasad said.
The deceased have been identified as Rajesh Gaur (40), Bitta (50), Arvind Kumar Gaur (32), Santosh Kumari (32) and Ramdulari (39), he said.
The injured were rushed to a hospital, where their condition is stated to be serious, the SP said.
He said the bus driver is absconding.