A woman has died after being hit by a car near the Royal Prince Alfred Hospital (RPA) in inner Sydney on Saturday afternoon.

Emergency services were called to Grose Street in Camperdown about 1.30pm after a mother and daughter, aged 85 and 62, were hit by a car.

Both were taken to the nearby hospital, where the 62-year-old woman died. The 85-year-old is being treated for head injuries.

The driver, 69, was uninjured. He was arrested and taken to hospital for mandatory tests.

Police are investigating the incident, which occurred on a quiet, one-way street behind hospital facilities and near secure hospital parking.

Officers from the Inner West Police Area Command are asking anyone who witnessed the incident to contact police.

A report will be prepared for the coroner.