The accident took place late last night on the Rewari-Narnaul road near the Railway crossing of Pali village, about 15 km from here, police said.
The youths were travelling from Rewari to Mudia Khera village in the Kanina area of Mahendergarh district, they said, adding the truck was coming from Narnaul to Rewari.
CRPF jawan Manoj and his friend Jogender died while their three companions - Sanjay, Rajender, and Sunil were seriously injured.
The injured have been hospitalised here, police said.
A case of rash and fatal negligence has been registered against the absconding driver.
