The incident happened at the junction of Edgbaston Road and Pershore Road in Birmingham around 4pm yesterday.
Emergency services were called but despite their best efforts the 32-year-old was pronounced dead at the scene. The lorry driver stopped at the scene and is assisting police with investigations.
West Midlands Police is now appealing for witnesses to the incident.
Sergeant Alan Wood, from the force's Collision Investigation Unit, said: "This investigation is in its early stages and we are trying to establish exactly what happened. We are appealing to anyone who witnessed the collision who hasn’t yet spoken to us to get in touch.
"Our thoughts are with the family of the woman who lost her life. We have specialist officers supporting them at this difficult time."
Anyone with information is urged to call police on 101 or email FL_COLLISION_INVEST@west-midlands.pnn.police.uk