A bus carrying pilgrims from Kannauj was on its way to a temple in Rajasthan when the other bus, which was coming here from Jaipur, hit it, they said.
Malpura police station SO Ramesh Bhardwaj said three persons died on the spot and the bodies have been sent for postmortem.
SN Medical College staff told PTI that two persons, including a woman, of the 21 injured brought for treatment in the hospital also succumbed to their injuries.
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