After the accident, which took place at around 5:30 AM, both vehicles caught fire. The drivers got trapped in their vehicles and were burnt to death.
A cleaner in one of the trucks managed to save himself after jumping from the vehicle, police said.
Two fire tenders were rushed to the spot to put out the fire, Kurukshetra police, Inspector (Ladwa), Nirmal Kumar said.
The truck drivers were identified as Deepa and Jagpal, he said.
After the accident, traffic movement was disrupted on the Kurukshetra-Yamunanagar road, police said. Traffic was then diverted along other routes.