The driver and eight passengers of the Rajasthan Roadways bus also sustained injuries in the accident, police said.
Thirty seven goats and 12 sheep being transported in the mini truck were also killed, they said.
The deceased have been identified as Pawan Kumar, the driver of the truck and a resident of Mahendargarh. Two other deceased are Shri Niwas and Palla Ram, residents of Rajasthan.
The mishap took place when the bus was on its way to Rewari while the mini truck was coming from Rajasthan.
Police have registered a case of rash driving against the driver of the mini truck.
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