The custard apple-laden jeep was on its way to Chhota Udaipur town from Bokadiya village in Madhya Pradesh's Alirajpur district.
The accident occurred when the jeep driver, in an attempt to overtake the truck, rammed into the latter, Rangpur police station's sub-inspector S L Gameti said.
Four passengers of the jeep died on the spot, while six others sustained injuries in the mishap, he said.
The deceased were identified as - Bhuvabhai K Rathwa (of Rangpur village), M G Bhil (Kavadiya village), Geetaben Zapadiya and Ringliben K (both from MP's Bokadiya village), the police officer said.
The truck driver fled from the spot after the mishap, he said.
A case has been registered in this regard, he added.