The pedestrian, a 72-year-old local woman, was hit by a grey Ford Mondeo Estate on the A19 at Barlby just before 4.30pm on Friday 20 December 2013.
She was seriously injured in the collision and was sadly pronounced dead at the scene. Her family have been informed of her death.
The A19 was closed until around 10pm while officers conducted their investigation into the collision.
As part of their investigation, officers are appealing to anyone who witnessed the collision to come forward with information.
They would also like to speak to anyone who was travelling along the A19 near Barlby around the time of the collision or anyone who saw the pedestrian or the grey Ford Focus prior to the incident.
Anyone who can help officers with their enquiries is urged to contact North Yorkshire Police on 101 – select option 2 – and ask for Traffic Sergeant Yvonne Taylor or Traffic Constable Martin Hayes.
Please quote reference number 12130220022 when passing information about this incident.