The accident happened on Route 80 East near Exit 62a in Saddle Brook just before 3 p.m. Monday, when the truck collided with a Dodge Caravan and ended up coming to rest on top of it.
The cab of the truck caught fire after it hit a cement post.
The truck's driver had to be cut out of the cab.
The passenger in the truck and four people in the minivan were also hurt.
None of the injuries are life threatening.