The mishap occurred at around 10 AM when the driver of the autorickshaw, carrying 10 passengers from Kothapeta to Amalapuram, tried to overtake a vehicle at Gollakotavari Palem in Kothapeta mandal of the district, police said.
In the process, the autorickshaw collided with a mini van coming from the opposite direction, they said.
Seven members of a family travelling in the autorickshaw died on the spot.
Four others injured, including the autorickshaw driver, were rushed to Kothapeta Government General Hospital where their condition was stated to be serious, police said.
The van driver was taken into custody, they said, adding that further investigation was on in the mishap.