The incident happened yesterday when the vehicle carrying 25 passengers was being transported across the river, Mandawar SHO Vimlesh Kumar said.
"In these parts of Khadar area, it is a common practice to use boats for ferrying villagers, cattle and vehicles across the river," the SHO said.
24 villagers were rescued while one woman, Usha, was killed in the mishap, the SHO said.
The injured have been admitted to the district hospital here, he added.