The Chief Minister was safe in the incident that took place late Tuesday night.
According to police, the accident happened as one private vehicle entered a no-entry zone and hit the pilot jeep of the convoy under the twin Mandovi bridges in Panaji.
Police Inspector Rajendra Prabhudesai said that the accident occurred at 11.35 p.m., in which three policemen, including a driver of pilot vehicle, were injured.
The three injured - police pilot jeep driver Gajanan Shirodkar, head constable Umakant Dhavaskar and wireless operator Dyaneshwar Palyekar were admitted to Goa Medical College and Hospital and were later discharged.
Police stated that Parrikar was in the second vehicle followed by an escort car, when the incident took place.
"The private jeep came from the opposite direction in no-entry zone and was about to hit the Chief Minister's car when the pilot car took the hit on itself," police officials said on Wednesday.