The bus was on its way to Gwalior from Shivpuri and the mishap took place at Kalothara Fatak, 47 km from the district headquarters, police said.
Due to the impact of the collision the truck overturned, said Subhaspura Police Station In-charge Dhramsingh Kushwaha.
Three passengers in the bus died on the spot, while another succumbed to injuries at the Shivpuri district hospital, he said.
A K Singh, one of the deceased, was a Divisional Engineer of MP State Electricity Board at Bhind. Two others were identified as Mukesh Khatik (45) and Raju Sharma (50) while the fourth passenger who died in the hospital was yet to be identified.
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