A man and a woman in their 50s died when they were hit by a vehicle on the A64.
They were crossing at Welburn near Malton at about 23:00 BST on Friday, North Yorkshire Police said.
The pair were pronounced dead at the scene by paramedics. The vehicle driver and his wife, travelling towards Scarborough, were uninjured.
The road was closed in both directions for about four hours but has since reopened.
The force has appealed for any witnesses to contact them.