The man was among five people who were run over in the incident.
The Bollywood star was charged with culpable homicide.
Salman Khan, 49, 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 Salman Khan to appeal against the verdict.
He could have been jailed for 10 years.
Correspondents say the guilty verdict is a huge setback for Salman Khan who is one of Bollywood’s biggest stars, appearing in more than 80 Hindi-language films.
On May 6, as Salman Khan drove to court with his family and friends, fans prayed for the actor’s acquittal.
Judge DW Deshpande found the actor guilty on the charge of culpable homicide.
“You were driving the car; you were under the influence of alcohol,” he told Salman Khan as soon as the court proceedings began.
Indian television channels reported Salman Khan broke down inside court as the guilty verdict was announced.
Several of Salman Khan’s Bollywood colleagues spoke out in his support and expressed their sympathies.
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