The mishap took place near Chaori check post on the Mumbai-Ahmedbad Highway at around 3 pm, officials in the district disaster control room said.
The tanker, said to be carrying petrol, went up in flames after overturning and exploding. Three persons travelling in the vehicle and four others walking on the road were burnt alive, control room chief Jaideep Visave said.
A few others were injured, he said, adding the tanker was on its way to Mumbai from Ahmedabad.
The deceased have not been identified yet.