The mishap occurred when the driver of the iron ore laden lorry, proceeding to Visakhapatnam from Odisha, lost control of the vehicle over a narrow bridge on Chamapvathi river in Nathavalasa village under Poosapatirega mandal of the district, police said.
As a result, the lorry fell into the river, killing its driver and cleaner on the spot, they said.
Efforts were on to fish out the vehicle from the river, police said, adding that the deceased were yet to be identified.