Five other bus passengers sustained injuries and were admitted to a government hospital in Tadepalligudem, a senior police officer said.
The mishap occurred near Anantapalli village when the bus was on its way to Eluru from Rajamahendravaram, he said.
The deceased have been identified as G Lakshmi (55), her daughter K Jyothi (37) and grand daughters Akhila Satya (12) and Siva Sai (14). They were proceeding on a pilgrimage to Lord Venkateswara temple at Dwaraka Tirumala, the officer added.
The lorry driver was also injured, the officer said, adding a probe was underway.
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