The car, a Maruti Ciaz, was being driven by a 17-year-old boy, who was accompanied by his friends, also minors. Police said the friends had come to Connaught Place for a drive.
The car belonged to the teenager's uncle, who is also likely to be booked for giving his car keys to a minor.
According to the police, the teenager jumped a traffic signal and rammed into the auto-rickshaw at a turn between KG Marg and Tolstoy Marg.
The driver, Shiv Shankar Mahato, 66, a resident of Mata Sundri Road, was thrown several metres in the air as a result of the collision and died on the spot.
The teenagers were also injured. The minor driver sustained head injuries and was taken to a hospital.
Further investigations are underway.