The private car which was carrying six onboard, reportedly lost control and collided head-on the oncoming lorry.
Four passengers from the saloon car died on the spot, reports reveals, while the driver of the lorry and his turnboy sustained minor injuries.
The two have since been rushed to Nairobi West hospital for medical treatment.
The bodies of the deceased were removed to George Woods funeral services facility.
The Thursday evening accident has led to a serious traffic build up along the busy highway.
The accident comes only three days when two people also lost their lives on the spot in head-on collision involving two lorries.
Uhuru Highway traffic police officer Jeffrey Mwangi said the saloon car was moving at a high speed before it lost control and collided head-on with the lorry.
Police have launched investigations into the Thursday evening accident.
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