A car, a truck and a mini-bus were under the bridge when it fell Thursday, Xinhua quoted the Globo news portal as saying in a report.
Media reports said that at least 19 people were hurt in the incident.
At least 19 people were injured in the incident
The bridge, which was under construction, is located three km from the Mineirao stadium, scheduled to host a World Cup semifinal next week.
"There was a big racket and a huge plume of dust," said an eyewitness who saw the incident from a window in his apartment.
Football's biggest carnival resumes on Friday with former champions France and Germany taking on each other and hosts Brazil facing Colombia in the first two quarterfinals.