Police spokeswoman Lt. Amy Bonney says 23-year-old Amber Harrington was traveling southbound on White Spar Road on Friday when the truck allegedly struck her from behind just before 5 p.m.
Bonney says Harrington was taken to Yavapai Regional Medical Center but died as a result of her injuries.
Harrington, who was from California, was a student at Prescott College.
Bonney did not release the identity of the 36-year-old driver, who is from Prescott.
Investigators are still trying to determine potential contributing factors in the crash.