The incident took place near the Lagra Traffic Park on Seepat-Bilaspur road on the outskirts of Bilaspur town, Additional Superintendent of Police Vijay Pandey said.
The rickshaw, with seven passengers, was heading for Bilaspur from Seepat.
Pushkar Prasad Mishra (62) died on the spot while two others -- their names not yet known -- succumbed at the district hospital.
The injured -- Atmaram Yadav (60) and Rajendra Prasad Gupta (72) -- were admitted to Chhattisgarh Institute of Medical Science Hospital and their condition was stated to be critical, he said. The driver and two other passengers were unhurt.