The camel belonging to Bhal Singh Godara broke the rope tied on its foot last night and then entered the house of Mahindar Singh, a farmer, police said.
Mahindar's brother Ram Kumar, tried to chase the camel away, which turned violent and bit him, police said.
As Mahindar rushed to save his brother and shoo the animal away, it trampled him, they added.
His cousin and neighbor Surjeet Singh tried to control the animal but it held him in its jaws and struck him against the wall, killing him instantly.
Ram Kumar, who was injured in the incident, is being treated at Agroha Medical College.
Village residents, who woke up to the commotion and cornered the camel, later injected poison to kill it, police said, adding, further investigation in the matter is on.