At least four others were injured in the mishap when the mini bus in which they were travelling was rammed by a truck, reports said.
The deceased belonged to the bomb disposal squad of the Gujarat Police.
Modi mourned the death of the cops and tweeted: "Received sad news of the accident of CM security staff. 2 members of the team lost their lives. Condolences to their families."
The incident occurred at around 2.45 am on National Highway-2.
"The mini-bus was parked at the roadside as they had stopped on the way. A truck rammed into it around 2.45 am. The truck driver, who we believe was in an inebriated state, managed to escape from the spot but was arrested later," Dheeraj Pal Singh, station officer, Sirsaganj police station, told Hindustan Times.
"The two policemen killed have been identified as the driver and a constable -- Bhai Lal Patel and Jai Raj Singh -- from Gujarat police. Four more were injured and rushed to the district hospital of Firozabad for treatment. A case has been registered in this regard and investigations are on," Singh told the newspaper.
Modi will visit Patna city on Friday. He will meet the families of the six people who died during the blasts which rocked Patna city on Sunday.
Six people were killed and over 80 others were injured in a series of crude bomb explosions before Modi's "Hunkar" rally at Gandhi Maidan in Patna.
--IBNS (Posted on 02-11-2013)