The southbound bus, operated by New York Trailways, rear ended the truck near exit 15A just after 5:30 a.m.
About 17 passengers were on the bus at the time of the crash.
The driver and several passengers were injured and taken to nearby hospitals.
Sgt. Michael Kopp says the injured had to be extricated from the bus, but their conditions weren't believed to be life threatening.
The remaining 12 passengers were placed on another Trailways bus that was headed for New York City.
The truck driver is from Canada. The bus driver was identified as 57-year-old Dean Vardakis, of Washingtonville, New York. Cops say there is no early indication that drugs, alcohol or lack of sleep played a role in the crash. The records of both drivers appear to be clean.
A motorist whose indecisive action apparently led to the crash never stopped. New York State Troopers are investigating both the bus and truck to see if there were any mechanical failures that led to the accident.
The bus left Kingston at 4:15 a.m. It was to arrive in New York City at 6:15 a.m.