The girl was knocked down on Lockton Road at around 6.15pm on Thursday.
She was James Cook Hospital where she was in a critical condition but police confirmed today that she died the following day from her injuries.
Officers are continuing to appeal to any witnesses who were in Lockton Road or Fyling Road area, or anyone who may have witnessed the girl or a black 4x4 car prior to the incident, to come forward.
The girl was wearing pink and purple trousers and a white coat with pink and purple flowers and an insect print.
A police spokesman said specially trained officers were continuing to provide support to the child’s family.
Officers from Whitby’s Safer Neighbourhood Team are continuing patrols in the area to gather any further information and provide reassurance.
Anyone with information should contact North Yorkshire Police on 101, select option 2 and ask to speak to Iain Atkinson. Please quote reference 12160106067. Alternatively you can email [email protected]