It happened around 3:30 p.m. near Lehigh Pike and Bridge Street in Whitehall Township.
The bus was carrying Carbon Lehigh Intermediate School students, officials said.
Police say all students were evaluated at the scene and no injuries were reported.
"We are grateful for the swift response of our staff and emergency personnel, and we remain committed to the safety and well-being of our students," the school said in a statement.
The cause of the crash remains under investigation.
(Correction: A previous version of this story incorrectly stated the bus involved students from Colonial Intermediate School.)