The mishap occurred at Jangareddy Gudem bypass road near Buttayagudem in West Godavari district when the driver of the autorickshaw, in which six persons were travelling, lost control of the vehicle hit a stationary lorry.
The ill-fated vehicle was heading to Kakinada in East Godavari district from Sathupalli in Khammam district.
Three persons died on the spot while three others injured were admitted to the Kakinada Government General hospital.
The bodies were sent for postmortem.