Five of the deceased were travelling in the jeep and the sixth victim was the cleaner of the truck, Patsoli police station SHO Shivraj Singh said.
The jeep was on its way to Udaipur when the incident occurred. The deceased have been identified as Gangaram, Pradeep, Sandhya, Nisha, Ranjana, and cleaner Bharat, he said.
Investigators suspect that the truck driver was driving his vehicle in the wrong direction leading to the accident.