Blogging on her Twitter page, the singer explained that she had been travelling to a gig in Houston when the bus careered off the road.
"I'm on the phone baking like Betty in my bus bunk and CRASH!", she wrote. "Thought I was dead, but turns out we ran into a family of deer.
"I can't believe it. We're all okay though! The guitar player flew out of the bunk and hurt his hand a little. I'm saying a huge prayer of thanks right now. God is good all the time!"
She later added that she felt "really sad for the deer...one didn't make it".
Earlier this month, Solange was forced to apologise after accidentally hitting a fan with her microphone stand during a gig in Chicago.