The incident occurred in Chhoti Sadri area when the victims, all labourers, were on their way to Gambhiri river dam for their job, SHO Chhoti Sadari police station Kailash Chand said.
The deceased were identified as Shanti Lal Dhakar (30)- driver of the vehicle, Lehri Meena (50), Homly Meena (45), Hamburi Meena (45) and Kesar Singh Meena (30), he said.
The injured have been admitted to hospital, the SHO said, adding the condition of six is stated to be 'critical'.