A preparation of autologous T-lymphocytes engineered to express a chimeric antigen receptor (CAR) specific for the tumor-associated antigen (TAA) human G-protein coupled receptor family C group 5 member D (GPRC5D), with potential immunostimulating and antineoplastic activities. Upon leukapheresis, isolation, transduction, expansion ex vivo, and reintroduction into the patient, the autologous anti-GPRC5D CAR-T cells OriCAR-017 specifically recognize and induce selective toxicity in GPRC5D-expressing tumor cells. GPRC5D is overexpressed in certain malignancies, such as multiple myeloma, while minimally expressed in normal, healthy cells. It plays a key role in tumor cell proliferation. OriCAR-017 contains a signal activation domain element that may improve CAR-T cells expansion and durability.