The victims, belonging to a tribal community, were walking on the road towards Chikhali village when the truck hit them at around 9 am, an official at the Muktainagar police station here said.
The deceased were identified as Nimmibai Godhan Pawar, and her daughter Alkos Godhan Pawar (8), and sons Udadiya Godhan Pawar (6) and Amarsing Godhan Pawar (1), he said.
Another 12-year-old son of Nimmibai Pawar was injured in the mishap and taken to a hospital, the official said.