Police cordoned off the scene in Homefield Rise after the bus, believed to be the R9 route, crashed just after 7.40pm.
Photos taken at the scene appear to show the vehicle was travelling toward Orpington High Street.
The road was later reopened to traffic and a police cordon lifted the same night.
A Met Police spokesperson said: “We were called to Homefield Rise at around 7.40pm following reports of a crash between a bus and street furniture.
“Passengers left the bus complaining of very minor injuries and no other vehicles were damaged in the collision.
“Enquries in to the crash are ongoing.”