The 64-year-old woman was taken to hospital after the collision which occurred on Manvers Way, Wath-upon-Dearne, just before 7am on Friday.
She was reportedly struck by a black Audi A4 S-Line travelling towards Manvers as she was crossing the road near its junction with Pontefract Road.
A spokesperson said: “If you were in the area and have dashcam footage or any information which could help officers with their enquiries, please get in touch.
“You can pass information through 101 or email any footage to firstname.lastname@example.org.
“The incident number to quote is 134 of September 11.”