The truck driver, who allegedly fled the scene, was later arrested by local police, The Straits Times reported.
The accident occurred around 4:50 p.m. on June 8 along the Pahang section of Jalan Genting Permai, according to China Press.
The Singaporeans were traveling in a Perodua Myvi when it collided with a Toyota pickup truck driven by a non-Malaysian man, who had three passengers onboard.
Photos published by China Press showed the front right side of the Myvi severely damaged.
The car was seen parked on a grass patch beside the road.
The car driver was reportedly unharmed.