The accident took place at a traffic signal on the carriageway from Chhatarpur to Mahipalpur on Saturday, a senior police official said.
The truck, bearing Andhra Pradesh registration number, hit the auto rickshaw carrying two people. The driver of the auto Deepak and two others received injuries in the accident, he said.
Deepak was sent to the AIIMS trauma centre while the injured were taken to the ISIC Hospital where an unidentified passenger, around 40 years of age, was declared brought dead by the doctors, he said.
A case was registered at Vasant Kunj (south) police station on the complaint by Deepak, he added.