A woman has died after being struck by a police car in Far North Queensland.

The 71-year-old woman was struck by the police car at the intersection of Sheridan St and Lily St in Cairns North about 7am on Thursday.

Police said officers immediately rendered medical aid to the woman, from Trinity Beach, before she was assessed by paramedics to be in a life-threatening condition.

She was rushed to Cairns Hospital with critical injuries, however, was declared dead a short time later.

Deputy Commissioner John Tims said it is “an incredibly sad loss that has changed the life of a family forever”.

“It has also been felt by the officers involved and the Queensland Police Service (QPS) as a whole,” he said.

“Police officers go out every day to serve and protect their community, a tragedy like this is not something we ever want to see happen.”

Deputy Commissioner John Tims said the incident had ‘changed the life of a family forever’.Deputy Commissioner John Tims said the incident had ‘changed the life of a family forever’. Credit: 7NEWS

Tims said three officers — one sergeant and two constables — were inside the police car at the time of the incident.

He also confirmed the driver underwent mandatory drug and alcohol testing, with the Ethical Standards Command to decide if the officers will remain on active duty while the incident is investigated.

“Our people are trained really well, they are good people doing good work out there, but the investigation will tell us if there has been any wrongdoing,” Tims said.

Tims said investigators were looking into whether officers were responding to an incident at the time and if the green light allowing pedestrian to cross the road was active when the woman was struck.

No charges have been laid, with the Forensic Crash Unit and Ethical Standards Command investigating with oversight from the Crime and Corruption Commission and Coroner.

“I can give 100 per cent assurance that this investigation will be thorough,” Tims said.

“If there is something that needs to be changed it will be changed.”

CCTV from a nearby shop shows the police car moments before the woman was struck.

It appears to show the police car make a sharp turn into the intersection before turning on its lights moments before the woman was struck off screen.

Lily St remains closed between Digger and Sheridan St and motorists are urged to avoid the area.

Police are appealing for any witnesses or anyone with relevant dashcam to come forward.