The six personnel were identified as - Ashwini (Assistant Sub-inspector), Rajesh (Head Constable) and constables Sanjay, Krishan, Yoginder and Padam.
They were all posted in the 3rd Battalion of Delhi Armed Police, which is entrusted with transport of undertrials between Delhi Prisons and courts both in and outside Delhi and to hospital etc, said a senior police official today.
"They were earlier suspended for dereliction of duty and the dismissal form was signed yesterday by the 3rd Batallion DCP," said the official.
According to the police, the incident was reported on August 27 when gangster Manoj Bakkarwala, lodged at Tihar Jail, was taken to Agra for a court hearing.
The policemen accompanying Bakkarwala were supposed to return to Delhi immediately after the hearing.
Before leaving for Delhi, Bakkarwala expressed his desire to go shopping for shoes and the officials allegedly agreed to accompany him.
A shopowner in the shopping arcade reported the matter to his media friends and the incident was caught on camera. The six policemen were suspended on the same day.