Humber Police said the 77-year-old woman had been knocked on Holderness Road this afternoon.
A spokesman said: "The collision happened near to the Ings Road and Maybury Road junction when a large blue cement mixer lorry collided with the woman.
"We are appealing for anyone that witnessed the incident, and has not already spoken to us, to call 101."
The road was closed for some time to allow emergency services to attend but has now reopened.
The police spokesman thanked drivers in the area for their patience while police worked at the scene.
Anyone passing on information is asked to quote log 282 of 18/05/18.