Sarabjit's wife Sukhpreet Kaur, daughters Poonam and Swapandeep Kaur and sister Dalbir Kaur crossed over into India from Lahore through land border.
The family had gone to Pakistan on a 15-day visa on Sunday, two days after Sarabjit was attacked in Lahore's Kot Lakhpat jail.
The condition of Sarbajit Singh, who is in a special intensive care unit of the state-run Jinnah Hospital in Lahore, had further deteriorated last night.
Sarabjit, 49, sustained several injuries, including a skull fracture, when six prisoners attacked him in Kot Lakhpat Jail on Friday afternoon.
He was hit on the head with bricks and his neck and torso cut with sharp weapons.