The ambulance, which was carrying a patient and his relatives, collided head-on with a truck.
Inspector A Pydi Babu told PTI that Tadi Bhaskara Reddy (60) and his wife Gangavati (58) died on the spot. Three of their relatives and the ambulance driver were injured.
Bhaskara Reddy, who was ailing, was being taken home from a private hospital in Eluru.
The injured were shifted to Eluru government hospital.