MADISON, Wis. -- A Dane County Highway Department worker has been cited for following too closely in a multi-vehicle crash on the Beltline that injured at least three children on a school bus Tuesday, authorities said.

The crash, which happened after 8:30 a.m. Tuesday on the westbound lanes of the Beltline near Rimrock Road, started a chain reaction, Town of Madison police said. The bus was pushed into another bus in front of it. That bus then hit a passenger vehicle. Then, another car hit Dane County Highway Department vehicle.

Dane County Highway Department worker Chad Gray was cited for following too closely in the five-vehicle crash.

Another driver, Lawrence Davis, was also cited for following too closely in Tuesday's crash.

Police said Gray was driving the Dane County Highway Department vehicle that crashed into the school bus, causing the chain-reaction crash.

Three children on the bus from Immaculate Heart of Mary in Monona were taken to a hospital after the crash with minor injuries.

The Beltline was cleared at about 10:30 a.m. Tuesday.