The crash occurred in the early afternoon when the plane took off from Pampulha airport.
According to the fire department of Minas Gerais, of the three people onboard, two police officers were killed while a mechanic was rescued and taken to the hospital.
The federal police said in a statement that it had begun an investigation and would "dispatch specialized flight safety and air crash experts to assist in the investigation in the next few hours."
Brazilian President Luiz Inacio Lula da Silva expressed his solidarity with the families, friends, and colleagues of the victims on social media.
MNA/PR