The attack, by unidentified men, took place when Satyapal Singh was going to Malakpur village in Baghpat constituency.
Some villagers reportedly manhandled him, an official said.
Civil Aviation Minister and Rashtriya Lok Dal (RLD) chief Ajit Singh is the outgoing MP from Baghpat. He is again in the contest.
Officials said window panes of one of the cars in Satyapal Singh's cavalcade were broken in the violence. Two people were also injured.
District officials said all was "normal now" and that the BJP candidate had left the place.