At least two people are dead and several others injured after a bridge collapsed on a busy highway in the World Cup host city of Belo Horizonte.

A car, a truck and a mini-bus were under the bridge when it fell on Thursday, according to the Globo news portal.

Local media reported that at least 19 people were hurt in the incident.

The bridge, which was under construction, is located 3km from the Mineirao stadium, scheduled to host a World Cup semifinal next week.

"There was a big racket and a huge plume of dust," said 57-year- old Elson Brito, who saw the incident from a window in his apartment.