Police said the tempo (MH04 1757) was carrying 30 person returning from a religious function.
The driver lost control of the vehicle on a bridge on a river and it fell down 20 ft breaking the protecting wall of bridge, they said.
The deceased were identified as Laxman Katke, Nanasaheb Kale and Kondiram Surawse.
Four of the injured were admitted to the Phulambri hospital whereas 22 others at the GMC Hospital in Aurangabad.
Superintendent of the hospital Suhas Jewadikar said that the condition of three of the injured was critical.