The driver of the Range Rover that collided with her – a man in his 60s – was arrested and later released under investigation while police enquiries continue.
Mrs Wadsworth was 66 and lived in Baildon.
In a statement, Mrs Wadsworth’s family said:
Judith was a beautiful selfless person and no words can express our sense of loss and devastation right now.
She was a devoted wife, mother and grandmother who will be missed by everyone who knew her.
We’re still struggling to come to terms with her death as a family, and we’d urge the media to respect our privacy at this very difficult time.
Mrs Wadsworth’s family is currently being supported by specially-trained officers from North Yorkshire Police.