Paramedics were called to the Flinders Highway, between Charters Towers and Townsville, at Dotswood after 7:00am on Tuesday.
Police investigating the fatal crash say the 49-year-old woman and an eight-year-old girl were in a Holden Barina, which collided with a truck.
Paramedics tended to the woman and child, providing critical care, but they were pronounced dead at the scene.
The truck driver sustained leg injuries and was airlifted to the Townsville University Hospital for treatment.
The Forensic Crash Unit is investigating the crash and asking anyone who had been travelling on the Flinders Highway around Dotswood this morning to contact police.
Anyone with dash cam vision of the incident is being urged to provide footage to police.
The Flinders Highway has been closed since 7:00am and police say it will remain closed until the late afternoon.
Motorists are being asked to delay travel and avoid the area.
More to come.
– ABC / Chloe ChomickiJump to next article