OKLAHOMA CITY (AP) _ Three prison escapees who allegedly abducted two teen-agers at a hamburger stand apparently wanted a ride in the youths' car, and left the two unharmed after a 140-mile trip to Oklahoma City, police say.

Authorities said three stopped to let one of the teens call her mother to say she would be late getting home, and before leaving the youths early Thursday admonished them to ''tell the truth, that we didn't harm you any,'' police said.

According to police, the men identified themselves as Louis Bromley, Amos Jennings and Charles Stidham, who escaped Tuesday from Okalhoma's maximum- security prison along with Ricky Stephens and Jerry Hamilton.

Prison spokesman Henry Hutcherson said a statewide alert was issued for the men when the teen-agers told police their story after they were released about 2:40 a.m. Thursday unhurt and with their car.

Corrections Department spokesman Howard Ray said there have not been reported sightings of Hamilton and Stephens.

The names and addresses of friends and relatives of the five men were being circulated to law enforcement agencies throughout the state, Hutcherson said.

Three men abducted the two teen-agers from a McDonald's restaurant in Muskogee about 10 p.m. Wednesday, police said. Police Lt. M.T. Berry said the teens told police that the men identified themselves as the escapees and only wanted a ride to Oklahoma City.

They left the two once they picked up another car.

The five were found missing from the prison about 9:30 p.m. Tuesday. Prison officials believed they escaped by climbing out on the roof of a cell house, going over a wall and cutting through a fence.

Bromley, 30, is scheduled to stand trial in Grady County in September on charges of killing a Chickasha pharmacist on Jan. 21 while a fugitive from the Lexington Correctional Center. He also is accused of escaping from the Grady County jail shortly after his arrest in the druggist's death.

He was serving a sentence for robbery at the time of his escape.

Hamilton, 33, who formerly lived in Enid, was serving a term for robbery. He had escaped from the Garfield County jail in 1980 but was recaptured the same day.

Among the others, Stidham, 37, was serving a life term for murder; Stephens, 23, was serving a term for robbery; and Jennings, 50, was serving a second-degree burglary term.