The victims hailing from Tirupur were returning after offering worship at the famous hill shrine of Lord Venkateswara at nearby Tirumala when the mishap occurred at Yerpedu near Sri Kalahasthi this evening.
The middle aged couple and their son and daughter were killed in the accident, suspected to have occurred after the lorry ladden with large sized steel pipes overturned, police said.
The driver of the lorry was absconding, police added.