According to police, the jeep bearing Haryana registration numbers, was coming from Hisar and headed to Ramdevra.
It collided with the truck coming from Jaisalmer, leading to the death of four of its occupants on the spot. Two others, injured in the accident, succumbed on their way to hospital, police added.
The dead are yet to be identified, police said, adding that a case has been registered in the matter.