The truck, loaded with vegetables and fruits, was parked in the southwestern, Shi'ite-dominated Amil neighbourhood, a police officer said.
Monday's explosion also wounded at least 25 civilians and damaged about 20 cars, he added.
A medical official confirmed the casualty figures.
The attack comes as Iraqi government forces and allied Shi'ite and Sunni fighters, backed by airstrikes from the US-led international coalition, are battling Islamic State militants to retake key cities and territory in northern and western Iraq.
In its blitz last year, IS captured large swaths of land in the country's north and west, along with nearly a third of neighbouring Syria.
No group immediately claimed responsibility for Monday's bombings.
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