Morgan's friend, 62-year-old comedian James McNair was killed in the crash.
"The defendants' negligence was a substantial contributing factor in causing plaintiffs' injuries," the lawsuit states.
"I wish it was me and I can't express how horrible I feel," he wrote on Twitter last month. "I was never charged at the scene of the accident because once again i was not guilty of any crime. Not until all the TV cameras came. So yes i am now most likely f*cked because i had an unfortunate ACCIDENT with the wrong car that night."
Walmart issued a statement the day of the accident.
We’re praying for the family and friends of the passenger who lost his life in the terrible accident in New Jersey. Our hearts go out to everyone involved and we hope those who were injured get the care that they need and make a full recovery.
This is a tragedy and we are profoundly sorry that one of our trucks was involved. We are working quickly to understand what happened and are cooperating fully with law enforcement to aid their investigation.
The facts are continuing to unfold. If it’s determined that our truck caused the accident, Walmart will take full responsibility.
Safety is our absolute highest priority, but that is no comfort whatsoever to the families and friends who are suffering today. We offer them our deepest condolences. We can’t change what happened, but we will do what’s right for the family of the victim and the survivors in the days and weeks ahead.
Morgan has become a fixture on television over the last decade. He was a Saturday Night Live cast member and starred in 30 Rock. He's also been seen on the big screen in the movies Death at a Funeral, Cop Out, Deep in the Valley and more.