He was 56 years old, and he is survived by his wife, daughter and a son. Yerrannaidu Kinjarapu joined politics in 1982 when NT Rama Rao had started the Telugudesam party. In the 1983 Assembly elections he contested on a TDP ticket from his native Harishandrapuram constituency and got through. Later, he successfully contested Assembly elections three times.
After attaining success in state politics he shifted to central politics. He contested the 1999 General Elections from Srikakulam Parliamentary Constituency and worked in the Devagowda Cabinet as Rural Development Minister. He twice missed the post of Speaker post of Lok Sabha. Had Balyogi not filed the nomination papers in time, Erramnaidu would have been a speaker.
Irrespective of politics he was appreciated by all leaders in Andhra Pradesh and also had a good name among national leaders. He was once attacked by Maoists while he was returning from his native place to Srikakulam. Ranked number two in the Telugudesam party he always strived hard to retain the lost glory of TDP. He did not hesitate to do any work that the party had entrusted. He was a great politician and always want to be in the midst of followers and people.