The woman, who was in her 40s, was struck at Ballyhagan in Carbury yesterday evening.
Gardai and emergency services attended but she was pronounced dead at the scene - the car's occupants were uninjured.
The woman's body has been taken to Naas General Hospital where a post mortem will take place.
Gardai are appealing for witnesses to contact them.
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10:00pm - 1:00am
Relaxing favourites with Traic O'Braonain
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