The five were going to take a dip in Narmada River at Hoshangabad when the accident took place yesterday, they said.
The deceased were identified as - Umesh (34), his wife Parvati (28), their two sons Prince (6) and Mintu (4) and a relative Pooja (12).
The truck driver fled the spot after the accident.
The bodies have been sent for postmortem, police said, adding the deceased hailed from Old Chhola area of the city.