The crash occurred yesterday in an area of the Bronx Zoo that is closed to the public. Bronx Zoo is America's largest city zoo.
"Police determined that a 2004 Honda Pilot traveling southbound on the Bronx River Parkway in the left lane had struck the center median, crossed over three southbound lanes and struck the curb, causing the vehicle to become airborne and continue over the guardrail and fall approximately 59 feet down into a wooded area inside of Bronx Zoo property," the New York Police Department said in a statement.
Police identified the victims as driver Maria Gonzalez, 45; Jocelyn Gonzalez, 10; Maria Nunez, 39; Niely Rosario, 7; Marly Rosario, 3; Jacob Nunez, 85; and Ana Julia Martinez, 81.
All were pronounced dead at the scene and an investigation is ongoing, police said.
NYPD Deputy Commissioner Paul Browne said all the victims on the sports utility vehicle (SUV) were wearing seat belts.
Browne said the driver likely overcompensated when the left side of the SUV struck the barrier.
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The vehicle was traveling at a high rate of speed, CNN quoted FDNY Deputy Chief Ronald Werner as saying.
Zoo spokeswoman Mary Dixon said the vehicle landed just inside the southeast perimeter of the 265-acre zoo. A baby bag with diapers inside was found at the scene.
The crushed vehicle came to rest in overgrown brush, Werner said. Authorities used thermal imaging cameras to find victims in case any had been ejected, he said.