The truck driver lost control and first ran over a motorcyclist before knocking down an auto rickshaw and a pick-up van.
The heavy vehicle ran over 14 persons of whom seven were killed on the spot, a senior police officer said.
Seven others suffered injuries, the Superintendent of Police (SP) Vimal Kumar said.
Four of the victims were identified as Nirbhay Kumar, Jogendra Kumar, Dharmendra Sav and Akhilesh Kumar, he said, adding the identity of three others were yet to be ascertained.
The injured persons were admitted to a hospital where the condition of two was stated to be critical, he said.
As soon as the truck screeched to a halt after ramming into the vehicles, a crowd gathered at the spot and set it on fire, Kumar said.
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The truck driver managed to escape.
The protesters also blocked the NH-198 demanding compensation to the bereaved families and those injured in the mishap.