She told the police that the men started harassing her as soon as she sat in the vehicle. When her baby daughter started crying, they threw her out. The child died of her injuries, said a police officer.
The woman has alleged that she was raped on a deserted road near the Delhi-Gurgaon expressway.
The woman, who lives in a village near IMT Manesar, had initially told the police that the accused had thrown her child out of the auto-rickshaw. However, later she told them that she was also raped.
"A case of murder and sexual assault has been registered. We are investigating the matter as woman alleging gang-rape has refused to undergo medical examination," a senior police officer said.
This is the third rape reported in Haryana since last month.
Last month, the body of a 23-year-old who was gang-raped before being murdered, was found in Rohtak. In another incident, a 26-year-old was gang-raped in a moving car in Gurgaon and abandoned in a semi-conscious state near her house.