Emergency crews were called to Highway 287 and Lone Star Road about 4 miles east of Henrietta around 4:30 Thursday morning.
DPS Troopers on the scene say a truck driver was changing lanes to avoid a Land Rover Discovery parked on the side of the road.
The driver told authorities he thought he hit a deer, but authorities say he'd hit a woman who'd been walking in the left lane of the highway.
Authorities have identified the woman as 58-year-old Lucretia Avery of New Mexico.
They say the black SUV belonged to her, and was parked on the side of the road without any lights on.
The body has been sent to Tarrant County for autopsy.
(Information from TexomasHomepage.com)