Inmate Rajesh Tota was being shifted to S N Medical College in Agra for treatment from Mathura jail late last night when the firing took place, Mathura District Magistrate, Rajesh Kumar said, adding that he has ordered a magisterial inquiry in the incident.
The assailants stopped the ambulance on Agra-Mathura highway and pleaded that they be allowed to see Tota as they were his family members, police said.
A 24-year-old medical assistant received a bullet injury on arm and saved himself by hiding underneath the seat of the ambulance, police said.
A policeman escaped from the spot after receiving minor injuries and informed authorities about the incident this morning, they said.
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Yesterday, one undertrial was shot dead, while Tota and Rajkumar Sharma suffered bullet injuries inside Mathura jail in a firing incident.
According to police sources, the firing was the result of a gang war between the supporters of Brajesh Mavi, who was a gang leader, and Tota.
The police are searching for the absconding gunmen.
The District Magistrate said that a magistrate will proceed with inquiry today, adding "there will be a judicial enquiry into the custodial death of the accused.