Four people survived the crash into the River Manacapuru.
The pilots had reportedly contacted air traffic control a short distance from their destination of Manaus to say they were turning back.
But the aircraft, which took off from Coari, then disappeared from radar, apparently during heavy rain.
A local fire service official was quoted by Brazil´s TV Globo as saying the pilots had been trying to reach a local airport, but the plane fell short by 500 metres.
A rescue effort to find survivors began immediately, and four people were recovered alive, all of whom are said to be in a good condition.
The dead people were recovered from inside the plane.
The plane involved in the accident was a twin-engine aircraft built by the Brazilian company Embraer.
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