Two jail staffers were suspended for dereliction of duty after the incident came to light.
The prisoner, Krishna Kushwaha, was lodged in the jail in connection with a loot case. The 28-year-old hanged himself from an iron grille of his barrack with a noose made out of a towel, jailer Babulal Shukla said.
Following the incident, two jail staffers, including head warden Damodar Jatav, were suspended for alleged dereliction of duty, Shukla said.
District Collector Bhaskar Lakshyakar has ordered a magisterial probe into the suicide of Kushwaha, lodged in the jail since July 17.
Enraged over Kushwaha's death, his relatives staged a road blockade near the district collector's residence and alleged the jail authorities were responsible for the incident.