The injured persons included driver of the mini-truck, two of its occupants and as many others riding the cycle, said Lalbarra police inspector Surendra Singh.
The deceased were identified as Lakhanlal and his mother Hirkan Bai Shirsagar, who was riding pillion, he said.
Singh said the injured were identified as Bablu Lakhanwar and Nandram, who were riding the cycle, Bablu Choura, driver of the vehicle, and two of its occupants -- Vishal Yadav and Nitin Dhurve.
Police have registered a case and investigations are underway, Singh added.