The victims were on their way to Ramdevra Temple in Jaisalmer district from Rawla in Sri Ganganagar district when the incident occurred.
After spending a night at Chana village in Bikaner, they had left the village for their destination early in the morning.
The truck was crossing the railway line at an unmanned railway crossing when it was hit by the goods train killing four on the spot, police said.
Two others succumbed to injuries in a hospital, they said, adding, five injured have been admitted to a hospital.
