The man was among five people who were run over in the incident. The actor was charged with culpable homicide.
Khan had said his driver was behind the wheel, but the judge said the actor was driving the car and was under the influence of alcohol at the time.
Legal experts expect the actor to appeal against the verdict.
He could have been jailed for 10 years.
Correspondents say the guilty verdict is a huge setback for Khan who is one of Bollywood's biggest stars, appearing in more than 80 Hindi-language films.
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