The bus driver died on the spot. The two others who died were residents of Delhi.
The accident took place in the early hours today on the Jaipur-Delhi national highway near Kotputli town, a police official said.
The driver Johny, (45), and a woman passenger Rani Verma, (52), died on the spot while Radheshyam (45), died while undergoing treatment at a hospital, SHO, Kotputli, Ravindra Pratap said.
The accident took place as the bus driver dozed off behind the steering wheel, according to the police.
Though the bus driver died in accident, the police have booked him under IPC sections dealing with rash driving, the police official said.