The vehicle was travelling towards Cork when the collision happened at the Waterloo junction.
The driver of the auto and a third passenger - both in their 60s - were taken to Cork University Hospital with non life threatening injuries.
The driver of the truck, a man in his 30s, was badly shaken by the collision and he was also taken to Cork University Hospital but it's understood that his injuries were relatively minor and he was treated for shock.
According to RTÉ, the N20 Cork-Limerick road is closed in both directions.
Gardaí have appealed for witnesses to the collision to contact them.
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