There have been several incidents in recent years of these. Mainly these happen in the first lap and often drivers are unaware of what has happened behind them. There may be two or three cars side-by-side while SC information comes out and it's very difficult to distinguish who is ahead. Especially if neither driver doesn't know that there has been incident behind them.
While overtaking under yellows, especially under SC should be taken harshly, these are quite different to that. The penalties we usually see are 5 seconds or so. However, there could be other way to do it.
I say that especially when safety car is deployed on the first lap it should be easy to find the order after first or second sector and then put cars in that order during the SC period without any need to give penalties. Also it could make it easier to avoid further incidents if drivers react to the upcoming safety car at different times. Good examples are Viso's accident in Magny-Cours and Formula Renault 2.0 crash from Silverstone 2015.