Two police men also received bullet injuries in the incident, Additional SP Kaluram said.
Following a tip-off that the criminals were staying in a room adjacent to a roadside restaurant, the area was raided and the criminals challenged to surrender, the SP said.
When they did not surrender, a police team led by an Inspector broke into the room, prompting the trio to fire at them, leaving Sub-Inspector Lacchiram and Constable Mahendra injured, Kaluram said.
The criminals managed to escape while opening fire at other policemen, he said. A constable then opened fire in which one criminal Arvind Meena was injured but others escaped unhurt, the SP said.
"The injured were taken to hospital in Udaipur city where the criminal succumbed to his injuries," he said, adding, condition of policemen was stated to be out of danger.
"Efforts are on to trace the other criminals," he said.