The incident occurred near Sarai Neem in Jalesar area at around 3 AM when the truck was returning from Agra, the police said.
Etah is four hours drive from the national capital.
Condoling the loss of lives in the accident, Prime Minister Narendra Modi announced an ex-gratia of Rs 2 lakh for the kin of each of those killed and Rs 50,000 each for those seriously injured in the accident.
Chief Minister Yogi Adityanath also announced Rs 2 lakh compensation to the next of kin of the deceased, Rs 50,000 to the seriously injured and Rs 25,000 to those with minor injuries.
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All of them died on the spot. The injured were rushed to hospital.
"My thoughts are with all those who lost their loved ones in the accident in Etah, UP. May those injured in the accident recover quickly," the prime minister said.
In January, 15 children were killed and 20 injured when their school bus collided with a lorry amid dense fog on Aliganj-Patiyali road in the district.