The accident occurred when the women from Allavaram village were going to Lord Venkateswara Temple at Vadapalli, the police said.
Five of the auto passengers were killed on the spot, while another died on way to the hospital.
One of the injured was later shifted to a government hospital in Kakinada.
Chief Minister Chandrababu Naidu expressed grief over the accident and ordered a detailed inquiry into it. He directed the officials to submit a report to him on the accident.
State Health Minister K Srinivas also spoke to district health officials in East Godavari.
Police took the tipper driver into custody and launched an investigation.