The dead, including three members of a family, and the injured were all occupants of the jeep, police said adding the accident happened in Neem Ka Thana area.
Murari, aged 50, along with his family was returning home from Jaipur when the collision occurred in the wee hours.
Murari, his wife Santosh (48), their daughter Sarita (15) and the jeep driver were killed in the accident, police said.
The truck driver fled from the scene, police said.