State Police say Lorena Lemons, 70, of Millersburg was killed in the crash. They say Lemons died from blunt force trauma.
The driver of the Nissan Titan truck, Justin Wallace, 30 , also of Millersburg had moderate injuries.
Troopers determined Lemons was wearing a seatbelt, however the airbag in her Ford Escape did not deploy.
Police are still investigating the cause of the crash.
Pennsylvania State Police are investigating a fatal crash that happened Tuesday morning in Halifax, Dauphin County.
The crash happened around 11:30 a.m on Route 147 near the area of Elmer Avenue.
Police say a full size pick-up truck and a midsize SUV were involved.
Both drivers were taken to the hospital for treatment. The driver of the SUV was later pronounced dead.
Police have not released the ID of the victim.