The mishap occurred at around 4:30 AM when the driver of the speeding vehicle, laden with clay, lost its control and hit a traffic police post before falling on the stationary autorickshaw, said Kancharapalem police inspector (traffic) Malla Vishnu.
The deceased were identified as M Ashok Kumar (38), resident of Marripalem area in the city and B Madhusudhan Rao (30).
Three others, including driver of the auto-rickshaw and passengers sitting in the rickshaw, were admitted to KG Hospital.