The California Highway Patrol says she was walking near the intersection of Varden Drive and Farallon Road in Madera County when it happened.
The 71-year old woman was reportedly hit by a white Ford pickup truck driving east on Varden, around 7:00 Thursday morning.
A CHP officer told ABC30, "Apparently the pedestrian, an elderly lady that stepped out in front of the vehicle and was subsequently struck and was deceased here at the scene."
Authorities say the driver who hit the woman stopped to help, and will not face any charges.
