Passengers on a bus in Brazil had a very close call when they escaped just seconds before the vehicle was swallowed by a sink hole.

Footage has emerged of the passengers abandoning the bus moments before the road collapsed on Brazil's Trans-Amazon Highway on Monday afternoon.

At least a dozen people were forced to flee the minibus as the ground crumbled into a river underneath. Many of the passengers were clutching small carry-on bags and parcels - the only things they were able to salvage in time.

Within minutes, the bus tipped back and disappeared into the hole only to reappear on the other side of the overpass as the water's powerful current swept it away.

9 News reports another vehicle tried to winch the bus to safety, but the cable used to pull it gave way.