The accident killed three generations of a family: Jacob Nunez, 85, and Ana Julia Martinez, 81, their daughters, Maria Gonzalez, 45, and Maria Nunez, 39, and three grandchildren, Jocelyn Gonzalez, 10, Niely Rosario, 7, and Marly Rosario, 3. Police said Maria Gonzalez was driving.
According to police, the Honda Pilot bounced off a median, crossed all southbound lanes and went over the guardrail, before landing upside down. The vehicle landed in an area of the zoo that was closed to the public and not near any animal exhibits.
The cause of the crash was under investigation. It was not immediately known how fast the SUV was traveling.
The accident was the second in the past year where a car fell off the same stretch of the Bronx River Parkway. Officials said city agencies will be asked to look at safety issues on the highway, including guardrail height.
The Associated Press contributed to this report.