Police say this happened in the 4300 block of Indian River Road. They responded to the scene at 10:25 p.m.
The victim, 57-year-old Mary Boykins, was crossing the street when she was hit by the pick-up truck that was headed eastbound on Indian River into Virginia Beach.
A witness, Tiffany Robinson, says several people saw the accident and ran to help Boykins.
"I seen her on the corner and they were doing CPR on her and I was like, I hope she is okay, I hope she is okay. I was just sitting there working and they said she was in critical condition because it hit her hard," Robinson said.
Boykins was taken to Sentara Norfolk General with life-threatening injuries.
Police announced Friday morning that she died in the hospital.
Indian River Road was closed from Sparrow Road to McDonald Road most of the night for the investigation.
The victim was a resident of an assisted living facility nearby. She had signed herself out of the facility to get something to eat.
The regional director of the facility released a statement saying, "Mary was loved by staff, we are deeply saddened by this situation and hope whoever did this will turn themselves in."