The accused truck driver Awadesh, was on his way to Kurawali in Mainpuri area of the district when he gave a lift to the victim on May 9, they said.
In the absence of the truck conductor Ghamandi Singh, the accused raped the woman and later handed her over to Singh, who dropped her in her native village, police said.
Yesterday, an FIR was lodged against the driver on the complaint of the victim's relative in Dalelpur village, police said.