The mishap occurred near Rupaheli turn in Sadar police station area when the victims were on their way in an SUV to Bhilwara city from Kota, they said.
Chandra (27), Khushi (18), Sandeep (37), Divya (30) and her daughter Dipika (4) died on the spot while two others suffered injuries, police said.
The injured have been admitted to a local hospital, they added.