The injured persons were Korra Mohan Rao, Killo Eswar Rao and Pangi Palo of Kondapalli village.
Mohan Rao's condition is said to be critical.The police shifted the bodies to the government hospital for post-mortem.
The deceased were identified as R Krishna Kumari (45), a government school teacher, Karri Raju (30), S Ganesh (28), APFDC jeep driver, and shop M Balasundaramma (30).
The lorry first hit a motorbike from behind and later ploughed into a road-side shop.
The victims were standing close to the shop when the lorry crashed into them.