The deaths occurred when a crane fell and destroyed parts of Sao Paulo's Arena Corinthians stadium.
Brazil are due to play the opening match of the tournament at the 65,000 capacity venue on 12 June.
A Fifa spokesman said local authorities would fully investigate the accident and its president Sepp Blatter said he was "deeply saddened".
A statement from football's world governing body read: "We wish to send our heartfelt condolences to the family of the workers who tragically died today.
"The safety of workers is the top priority for Fifa, the LOC [Local Organising Committee] and the federal government.
"We know the safety of all workers has always been paramount for all the construction companies contracted to build the 12 Fifa World Cup stadiums.
"Please understand that we are in no position to comment further at this stage, as we are awaiting further details from the authorities."
Brazilian police said a number of other construction workers were injured in the accident, which happened when the final part of the roof covering the south stand was being installed.
A crane operator was taken to hospital but was later released.
Local media reported witnesses hearing a loud crash as the crane fell on top of a metal structure.
Some workers fled, but most were said to be away on their lunch break at the time of the incident.
Construction company Odebrecht Infrastructure told BBC Sport the structure of the stadium had not been damaged.
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