Police are appealing for witnesses to the accident at around 5.20pm yesterday (Monday) on Thornes Lane, Wakefield, to come forward.
A 70-year-old woman was hurt in the collision near the Hepworth art gallery.
A West Yorkshire Police spokesperson said: "A Renault Scenic was travelling along Thornes Lane towards Thornes. The pedestrian was at a crossing when the collision occurred.
"The 70-year-old female pedestrian suffered serious injuries and was taken to Leeds General Infirmary for medical treatment."
Enquiries are ongoing.