The accused, Subhash Moond, Hanuman Singh, Vijay Pal and Pradeep, were arrested after the police chased down their SUV, SP Sikar Akhilesh Kumar said.
All the accused were involved in several criminal cases, he said.
Moond, who carried a cash reward of Rs 50,000 on his head, had escaped with notorious criminal Anandpal from police custody while being taken back to Ajmer from a court in Nagaur in 2015, IG Ajmer Malini Agrawal said.
"These are important catches," Agrawal said.
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Sikar SP Akhilesh Kumar said the accused used to roam in the SUV and never stayed for a long period at one place.
They had all the items of daily use inside the vehicle so that they can move around without having to stop anywhere, he said.
The criminals had escaped allegedly with the help of some policemen. Twelve policemen, including the SHO of Parbatsar police station in Nagaur district were suspended for dereliction in duty in the case.
Anandpal, who carries a cash reward of Rs 1 lakh on his head, is involved in over two dozen cases in Didwana, Jaipur, Sikar, Sujangarh, Churu, Sanganer among others. He is also the main accused in high profile murder cases like Jivan Ram Godara murder case of Didwana (Nagaur) and Gopal Fogawat murder case of Sikar district.