The victims were returning from Ratangarh Mata temple when the mishap took place.
"The incident occurred as the driver of the tractor fell asleep while driving," Superintendent of Police (SP) Bhind, Navneet Bhasin said.
The deceased were identified as Akhilesh (40), Shailendra (36), Ajay (25), Chameli (45), Durga (40) and Kamala (45), police said.
The victims belonged to Daulatpura village of Auraiya district in neighbouring Uttar Pradesh.
The injured persons, including the driver, were admitted to the district hospital, the SP said, adding that the condition of four is serious.
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