In this paper, we propose and analyze an extended model for the prey-predator-scavenger in presence of harvesting to study the effects of harvesting of predator as well as scavenger. The positivity, boundedness and persistence conditions are derived for the proposed model. The model undergoes a Hopf-bifurcation around the co-existing equilibrium point. It is also observed that the model is capable of exhibiting period doubling route to chaos. It is pointed out that a suitable amount of harvesting of predator can control the chaotic dynamics and make the system stable. An extensive numerical simulation is performed to validate the analytic findings. The associated control problem for the proposed model has been analyzed for optimal harvesting.