The accident happened near Juniper Elementary School at about 7:30 a.m.
The family was in a crosswalk when a 4-door sedan hit them, according to Justin Miller, an engineer with the Escondido Fire Department.
The boys, ages 4 and 8, suffered minor head and leg injuries, Miller said. Their 42-year-old mother was more seriously injured. Her injuries were classified as moderate, he said.
A school nurse checked on the boys before they were transported to Rady Children's Hospital as a precaution. The mother was taken to Palomar Hospital, Miller said.
The driver of the sedan remained at the scene. Firefighters told Fox 5 they don't believe the driver did anything wrong.
The accident was under investigation by the Escondido Police Department.