The driver of the Ka, a woman in her thirties, was taken to Harrogate District Hospital where she sadly died.
The driver of the lorry was uninjured but very shaken up.
Anyone who saw either of the vehicles before the collision or witnessed the incident is asked to contact North Yorkshire Police on 101, select option 2 and ask for the Major Collision Investigation team or email firstname.lastname@example.org
Please quote reference number 12160219432
Police, fire and ambulance services attended the scene. The road was closed to allow emergency services to deal with the collision and to allow collision investigators to examine the scene. It reopened 4.05pm.