My suggestion would be to try a soapy solution first.
Try a tablespoon of
soap, usually dish liquid, and 1 quart
water.
If after several applications this still has not worked then try a Bacillus Thuringiensis (Bt) spray or a Neem Oil spray.
Another suggestion is to pick them off and drop them in a pail of water. This is my remedy for tomato horn worms.