At 12:17 p.m., the couple was walking west on the south side of Third Street and was crossing Hetherton Street in a crosswalk when a loaded dump truck traveling west on Third Street turned left onto Hetherton and struck them, San Rafael police spokeswoman Margo Rohrbacher said.
The woman died at the scene and the man was taken to a hospital, Rohrbacher said.
Both the pedestrians and the truck had a green light but the driver should have yielded to the pedestrians, according to Rohrbacher.
The truck driver said he didn't see the couple in the crosswalk, but stopped after he heard a sound and looked in his rearview mirror, Rohrbacher said.
Police advised motorists to take alternate routes to get to the San Rafael Transit Center, which is located near the scene of the collision.