Jitendra Singh was returning home after picking his four children from their school when the truck hit his vehicle near the by-pass last evening, Superintendent of Police Bharat Dubey said.
Singh and his three children - daughters Sagun (9) and Palak (6) and son Awadh Singh (7) - died on the spot, he said.
His another daughter sustained injuries in the accident and she rushed to the Sanjay Gandhi Hospital where she was reported to be in a serious condition, Dubey said.
Singh's family members and other people from his neighbourhood staged a road blockade at the accident site demanding arrest of the driver and compensation to the kin of the deceased, the police official said.
The district administration later announced an ex-gratia of Rs 25,000 to each of the deceased following which the protesters cleared the road, he said.
A case was registered against the truck driver and a search was on for him, he added.