The people carrier came to rest in Loch Ness after coming off the A82 between Drumnadrochit and Invermoriston in the Highlands.
All five occupants of the car were taken to Raigmore Hospital in Inverness for treatment to minor injuries. Northern Constabulary said the accident happened at around 9.40am today.
The ages of the children and the woman are not known at this stage.
Police and ambulance crews attended the scene after they were alerted to the incident which did not involve any other vehicle. It is understood the car is being recovered from the water.
It is not yet clear how much the vehicle became submerged in the loch following its descent down the embankment.