An overpass under construction in a
The incident happened in the southeastern city of Belo Horizonte, where Tuesday's semifinal is scheduled to be played.
Health authorities in Minas Gerais state confirmed the death toll and said at least 20 people were injured. The dead included a woman who was driving a commuter bus that was trapped under the overpass, they said.
At least two trucks and a car were also involved, according to local news reports. Photographs of the scene were shared on Twitter.
Edson Brito, 57, told the Globo news outlet that numerous construction workers were at the site when the structure fell with "a loud sound and blinding dust."
The overpass, which spans a main road, was part of an infrastructure upgrade for the World Cup.
At least eight people died while working on the 12 stadiums that are being used for the soccer tournament.