It happened around 7:40 p.m. Sunday night.
Police were notified of the shoplifting incident at a Home Depot on the 2000 block of Peoples Plaza.
Officers chased the suspects' van onto I-95 northbound. The van then struck a police cruiser near the Route 273 exit.
Authorities say one of the suspects got out, ran across the lanes of I-95 south and fled into a wooded area.
The four remaining suspects suffered minor injuries and were taken into custody.
A trooper also suffered minor injuries.
Police continue to search for the suspect who fled.