Police said all the passengers were rescued and none suffered any injuries. The pilgrims were from Arpukkottai in Virudhunagar district.
The accident occurred when he driver swerved the van to avoid hitting another vehicle and in the process shot off the railing.
A case has been registered against the driver for causing damage to government property and reckless driving, police said.
The Pamban Road bridge runs parallel to the Pamban Railway Bridge and carries two lanes of road traffic.
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