Humanitarian logistics aims to reduce the time relief goods and services take to reach affected areas; deprivation time is one of the most significant factors in such conditions. Thus, utilizing a suitable transport fleet, including modern vehicles like drones, is essential. This paper introduces a new hybrid vehicle routing problem with pickup and delivery services, minimizing deprivation costs with multiple trucks and drones in a disaster. The model is presented as a mixed-integer linear programming problem focusing on minimizing deprivation cost in post-disaster situations through proper routing and inventory decisions made by heterogeneous vehicles. The deprivation time is divided into three main categories based on the arrival time of relief goods to affected areas and will be served by multiple relief goods. Due to the complexity of the problem, an improved adaptive large neighborhood search (ALNS) metaheuristic has been developed. This algorithm employs a heuristic algorithm to generate high-quality initial solutions and improve solutions with 17 destroy and repair operators. The algorithm was tested on a large-scale dataset based on real-world data from a crisis such as the Tehran earthquake, and the results demonstrate its superiority in providing better-quality solutions and lower solution time.