The incident occurred near Kita phanta area when the victims, all labourers, were returning home to Shergarh town, Deputy Superintendent of Police Ashok Meena said.
The deceased have been identified as Moolaram, Bishnaram, Chokha, Mahendra, Hukmaram, Khinya Ram and Chonka Ram, police said.
The police has seized the truck but the driver and his helper are still absconding.
Those injured have been admitted to hospitals in Jaisalmer and Jodhpur where their condition is stated to be stable, police said.