"When the bus was passing through Manida village on the Pali-Udaipur bypass at about 6am, it collided with a truck coming from the opposite direction", said Gupta.
The accident took place apparently as the driver of one of the vehiles dozed off at the wheel, an official said.
While six passengers died on the spot, four others died on way to the hospital.
"We have rushed 16 passengers, who were seriously injured, to Jodhpur and others have been admitted to the Bangar Hospital in Pali itself," Gupta said.
The Pali administration has announced an ex-gratia relief of Rs. 50,000 each for the next of the kin of the deceased from the chief minister's relief fund.
The bus was carrying about 45 passengers.
While the driver of the truck was missing after the accident, the bus driver was killed in the accident.