The mishap took place in the early hours at Bommuru NH when the van carrying nine persons from Visakhapatnam to Vijayawada rammed into the lorry from the rear, resulting in the death of five occupants including the driver, police said.
The victims were on their way to offer prayers to goddess Durga after Dusshera.
The deceased were identified as Dasari Ramesh, Gone Siva, Gadde Srinu, Virodhi Appalaswamy and driver Shanker, police said.
The injured have been admitted to the Rajahmundry government hospital. One of the injured -Guru Bhavani- is said to be serious.