Following a tip off, the team chased a vehicle and nabbed Vijay Mandia and Imran.
The duo are being interrogated in connection with cases of extortion, ADG-ATS and SOG Alok Tripathi said.
They are the accomplices of Anand Pal Singh, who escaped from police custody while being taken back to Ajmer central jail from a court in Nagaur last year.
Singh was the head of a gang that is accused in multiple cases of robbery and extortion in Nagaur district and other parts of Rajasthan.