The incident took place on the Agra-Mumbai Road last night when the couple's two children were seriously injured, police said.
The deceased were identified as Ramkishore Bhargava (50), his wife Prabha (45) and the car driver, whose name is yet to be known.
The victims were on their way to Mathura from Indore when the incident took place, police said, adding, the injured children were admitted to a nearby hospital.
The truck driver fled from the spot after the mishap. A case has been registered in this regard and further probe is on, they said.