The incident occurred yesterday when the speeding vehicle overturned on Bikaner-Jaisalmer highway near Srikolayat.
The vehicle driver Asif Ali and passengers Vinod Sonawat, Sushil Rampuria and Vishwas Sonawat were killed in the incident, police said.
Injured are admitted to PBM government hospital in the city where their condition is stated to be stable, police added.