In this work, the quasi-static tensile properties in the face-centered cubic-based Al0.5Cr0.9FeNi2.5V0.2 HEAs containing two types of heterogeneous nanoprecipitates, i.e., dual-lamellar and spherical nanoprecipitates, at ambient (293 K) and liquid nitrogen (77 K) temperatures are thoroughly investigated. The microstructure formed by aging at 873 K comprises L12 and body-centered cubic dual-lamellar (DL) nanoprecipitates. In contrast, aging at 773 K results in solely spherical L12 nanoparticles. Both nanoprecipitates enhance mechanical strength as temperatures drop to 77 K; however, the DL nanoprecipitates additionally boost the work hardening rate, whereas the spherical nanoparticles notably improve ductility. To investigate the underlying deformation mechanisms, we perform interrupted mechanical tests and microstructure characterizations at various strains. The DL nanoprecipitates are observed to go through a multistage work hardening rate response by gradually introducing new boundaries to block dislocation motion, activating the stacking fault (SF) networks, and forming Lomer-Cottrell locks. A combination of interface hardening, dislocation hardening, SF-induced hardening, and precipitation hardening in DL samples leads to stronger hetero-deformation-induced hardening at cryogenic temperatures. In comparison, while samples with only spherical nanoparticles exhibit a monotonous decrease in the work-hardening rate, the spherical nanoparticles can be sheared by dislocations, effectively alleviating strain concentration and thereby enhancing ductility at cryogenic temperatures. Overall, this work provides practical design principles of nanoprecipitates for fine-tuning the balance of strength and ductility in FCC-based HEAs at cryogenic temperatures.