The deceased were identified as Chuturbhuj (50), his wife Jaya (45), Yashoda (40), Priyanka (27) and Dheeraj (25), Investigating Officer of the case A S Ratnu said on telephone.
The injured, Manish, was rushed to a nearby government hospital, he said.
The victims, all members of the family hailing from Jodhpur, were returning from Sumer-Jhumpi Dargah in Desuri, 60 kms from Pali district, after paying obeisance.
The truck was impounded and its driver detained, he said.