The boat carrying 15 people, including four boatmen, capsized near Aklera city in the district, they said.
Of the 15 people, four swam out to safety while five others were rescued by the SDRF and police teams that were pressed into action.
Search for remaining six is still on, Jhalawar collector Jitendra Kumar Soni told PTI.
He said the rescue teams have been deployed at different spots to find out the missing persons.
Jhalawar Superintendent of Police Anand Sharma said, "we had preliminary information that 17 passengers were on the boat, which capsized due to strong water currents soon after it left for Jhalawar from Harnawada in Baran district".
Those rescued are being treated by doctors and efforts to find out six missing persons is still on, he added.