All the victims were from the 12th Royal Malay Regiment, Kuantan.
The two members who died were Mohd Hanif Patahur, 31, and Ahmad Fileni Mansor, 23, while the injured four were Mohd Faizal Ahmad, 29, Mohd Amaruddin Che Soh, 29, Mohamad Haffez Khairudin, 24, and Ifaiznor Ismail, 23.
The accident happened when the armoured vehicle went out of control and overturned, killing the two soldiers on the spot.
They were on their way back to Kem Sri Kinabatangan, Mile 7 with another armoured after patrolling the Labuk Bay in Kampung Sungai Tiram.
Deputy District Police Chief Supt Fadzil Mohd Ali said the case will be investigated under Section 41(1) of the Road Transport Act 1957.
He said the bodies of the two victims would be sent back to their hometowns today (Wednesday).
Hanif was from Johor while Ahmad Fikri from Kelantan.
Meanwhile, the Fire and Rescue Department received an emergency call at 11.40am and arrived at the scene at 11.57am.
The team consisted of one fire engine and a utility vehicle manned by eight fire and rescue personnel to help free the victims from the vehicle. The rescue operation ended at 1pm.