The deceased were identified as Pravesh Singh Rajpur (21), a polytechnic student from Jhansi district and Jugdesh Lal Meena (62), while Babulal Meena (19) sustained injuries, ASI, Durga Shankar said.
Two of them died on the spot, while Babulal is undergoing medical treatment at a government hospital here.
The bodies have been sent for postmortem, police said, adding, a case against the truck driver will be lodged.