The mishap occurred at Vattinagulapalle under Raidurgam police station limits at around 4.45 AM when the mini-lorry rammed into another lorry parked there.
Four persons died on the spot and two others succumbed while undergoing treatment at a hospital, they said.
The 14 others injured were also being treated at the hospital.
The accident occurred when around 40 people, all natives of Raidurgam here, were returning in the mini-lorry from Bidar district of Karnataka after attending a private function, Raidurgam police inspector A Bala Koti said.