The incident took place yesterday when the trio arrived here for the promotion of upcoming film 'Main Tera Hero'.
RTO inspector Yogendra Rana said the cars had not been registered despite the fact that they were were being used for a long time.
As both the BMWs were seized, Varun and others had to travel in another car.
The cars in question belong to a local car dealer. RTO released them after the dealer paid Rs 7 lakh towards the tax.