The incident occurred around 5 am near Moyda village when the villagers took out a religious procession, Additional Superintendent of Police (ASP) T S Baghel said.
"The truck ran over the procession, which left a woman, a man and an eight-year-old girl dead on the spot, and four others critically injured," he said.
The deceased were identified as Letavi Bai (55), Tukaram (38) and Jhumki, he said adding that the people injured in the accident were admitted to a local hospital.