A 71-year-old woman has died after being hit by a police car in Cairns this morning.

Police said a police vehicle collided with the Trinity Beach woman at the intersection of Lily and Sheridan Streets around 7am.

Officers rendered immediate medical assistance and the woman was transported to Cairns Hospital where she was later declared dead, police said.

A police marked car loaded on a toe truck and a shoe on the road.

The police car is towed away after the incident. (ABC Far North: Rosanne Maloney)

The Forensic Crash Unit and Ethical Standards Command are investigating with oversight from the Crime and Corruption Commission and Coroner.

Lily Street between Digger and Sheridan Streets remained closed throughout the morning while declared a crime scene, but has since reopened.

Police have appealed for witnesses or anyone with dashcam footage to contact them.