Bette Elbert, 72, is in critical condition in the intensive care unit of Marin General Hospital, a nursing supervisor said.
The California Highway Patrol initially reported she had died at the hospital.
Elbert was walking west across Seminary Drive north of Hodges Drive around 8:50 p.m. when she was struck by a 2005 Mercedes CLK350, according to the CHP.
The road has no streetlights, Elbert was wearing dark clothing and was not in a crosswalk when she was hit by the car driven by 64-year-old Richard Klussman of Mill Valley, CHP Officer Chris Rardin said.
Klussman was not able to avoid hitting Elbert but he braked and slowed down as Elbert went onto the hood of the Mercedes and broke the windshield, the CHP said.
Klussman avoided braking suddenly so Elbert would not be thrown onto the road, Rardin said.
Elbert slid off the Mercedes and onto the road when it stopped, Rardin said.
She was taken to the hospital by a Southern Marin Fire Department ambulance, the CHP said.
Alcohol and drugs are not a factor in the collision, Rardin said.
The incident shut down Seminary Drive for an hour.