This kind of accident is common in certain areas of Africa, where some people put their lives in danger to get fuel from tankers.
Majaliwa spoke at a ceremony in Kola, less than 20 minutes from where the disaster occurred some 200 kilometres (125 miles) west of Dar es Salaam.
Pictures posted online show flaming wreckage scattered over a wide area and charred bodies lying on the ground.
Witnesses said a crowd had gathered around the fuel tanker after it was involved in an accident early on Saturday, and some people were trying to siphon away fuel when the truck burst into flames.
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At least 60 people were killed and scores more wounded in a fuel tanker explosion in Tanzania, according to local police.
Tanzanian President John Magufuli sent his condolences to the families of those who died in the accident.
Magufuli has called for people to stop stealing fuel in such a way, a common event across Africa, saying he was "very shocked" by the unsafe practice.
Other witnesses say one person was trying to steal the lorry's battery and it created sparks, leading to the explosion. - At least 60 people perished in Tanzania when a fuel tanker overturned and then exploded as crowds of people rushed to syphon off leaking fuel.
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Police reports said a vehicle was travelling on a highway in the Morogoro coastal region, when it overturned about 7am local time.
Before the fire broke out - and perhaps when people were blissfully siphoning the fuel, videos shot by amateurs show the moments when women, men and young children were carrying buckets and jerricans towards the tanker.
An eyewitness said the truck was going at speed and was trying to avoid a motorcyclist on the main road near a Msamvu bus station.