The collision happened at about 12.25pm on Bridge Road, Stokesley, and involved a grey Vauxhall Astra car and a female pedestrian.
The pedestrian, a 63-year-old woman from the Hartlepool area, was pronounced dead at the scene.
Anyone who witnessed the collision, or has any information, is asked to contact North Yorkshire Police. Dial 101, select option 2, and ask to speak to Traffic Constable Mark Mullins in the Major Collision Investigation Team, or email firstname.lastname@example.org
Please quote incident number 12170055529 when passing on information.