The deceased were identified as Harendra (30) and Ramsevak (50), the SHO Kotwali-Dholpur Mahesh Chandra Meena told PTI on telephone.
Injured Dharmendra, Kuldeep and Sachin were rescued from the floating jeep in the six feet-deep Chambal river in the wee hours immediately after the mishap, he said, adding they were referred to Gwalior hospital.
Family members were going in a Bolero from Murena to Soroji for a religious purpose when the vehicle hit and broke rallying of the bridge and fell down into the flowing river, he said.