The incident had taken place on April 19, but the local police did not register the case immediately when the girl and her parents approached them, police said.
The victim's mother works as an Anganwadi teacher, while her father is a casual labourer.
Warangal district superintendent of police Ambar Kishor Jha said police had registered a case against M Jagadish, P Chintu, A Akhil, S Rajesh and Ch Ajay Kumar under the IPC sections 366 (abduction) and 376 (rape). All are on the run.