The incident occurred near Nokha on National Highway-89. They were on their way to their village and the tanker was coming from Bikaner side, police said.
The deceased have been identified as Lalita, Rashmi, Umaram, Ramkishan, Daduram and Jaluram, they said, adding, the tanker driver escaped after the incident.
Police further said that investigation is underway and efforts are on to nab the driver.