The bus, carrying over 30 pilgrims back home after a trip to Varanasi, was hit by a speeding lorry, killing the three passengers on the spot, they said.
Vizianagaram district Superintendent of Police Pala Raju said the impact of the collision was such that the passengers were trapped inside the mangled bus.
"In all 10 passengers were injured,of them five seriously, but all are safe. Some of the injured have been shifted to the King George Hospital in Visakhapatnam for treatment, while others were admitted to the government hospital in Vizianagaram," he said.
The pilgrims belonged to Narsipatnam in Visakhapatnam district.
Chief Minister N Chandrababu Naidu expressed grief over the accident and extended sympathies to the bereaved families.
He directed Vizianagaram district Collector Hari Jawahar Lal to ensure proper treatment to the injured, a release here said.
Deputy Chief Minister (Home) N China Rajappa also condoled the death of the pilgrims.
(This story has not been edited by Business Standard staff and is auto-generated from a syndicated feed.)