The man and woman were travelling along the A49 near Bayston Hill, in Shrewsbury, at about 10:50 BST when the collision happened.
Passers-by attempted CPR before paramedics arrived, but the pair were confirmed dead at the scene. Damage to the car was "significant", police said.
The driver of the lorry was treated for the effects of shock and discharged at the scene.
West Mercia Police said the road between Bayston Hill and Church Stretton was likely to be closed for the rest of the day while an investigation was carried out.
Two people have died after the car they were in collided with a lorry.