The accident happened after the lorry driver lost control of the vehicle near a police station.
While six persons were crushed to death under the truck's wheels, others died of electrocution and the resultant fire, triggered by the mishap, the Indian Express reported.
The victims had come to the police station to complain against rampant sand mining. The injured were being shifted to hospitals nearby.
Yerpedu is at a "T" junction, leading to Tirupati, Srikalahasti and Venkatagiri towns and the accident spot is close to this junction.
"Today a truck hit an electric pole snapping live wires and ran into a crowd killing 14 people and injuring 17 others", a police officer in Tirputi told Xinhua over telephone. Hospital sources suggest that the toll is likely to go up since some of the injured are in critical condition.
The driver of the lorry has also been admitted to hospital with injuries.
Deputy Chief Minister N China Rajappa has expressed shock over the incident.
The Andhra Pradesh government announced an ex-gratia payment of Rs 5 lakh to the families of the deceased.
Minister for Health and Medical Services Kamineni Srinivas instructed district officials to provide all support to the victims of the accident, including necessary medical treatment for those who have been injured.
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