The incident occurred at around 7 pm near Kanugunta village under Boath Police Station limits when the vehicle, carrying 15 persons, suddenly lost balance while crossing a culvert and fell down.
Four persons died on the spot while another -- a woman -- died at a nearby hospital.
Adilabad district superintendent of police Tarun Joshi told PTI that the injured had been shifted to a hospital.
The victims, all relatives, were returning to Venkatapuram after attending a cremation, police said.