The car was trying to overtake a truck when the driver lost his control and ran over the group of pilgrims, they said.
Vikram (35), who was from Gurgaon, was killed on the spot while the injured, most of them from Delhi, were rushed to a local hospital.
Following the incident, angry Kanwariya pilgrims pelted stones at the coming vehicles prompting the local administration to close the highway for heavy vehicles till August 5.