According to a USA Today report, the woman, who has not yet been named, was crossing outside the designated crosswalk at about 10 p.m. when she was hit, police said. The woman was taken to a nearby hospital but she eventually passed away.
Uber is assisting in the investigation, police said.
Uber is said to be fully cooperating with local authorities in their investigation of this incident, which will likely have a wide-ranging impact on every company now testing autonomous vehicles.
Police in the city of Tempe said that the vehicle was driving itself with an operator behind the wheel when it struck a woman crossing the road with a bicycle.
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Uber has suspended its self-driving cars after one caused the death of a woman in Arizona.
Tempe and Arizona have been a testbed for self-driving technologies thanks to state laws that allowed self-driving cars on city roads.
As a result of the tragic accident, Uber has pulled all of its autonomous vehicles off the road as its investigates what went wrong and cooperates with local authorities.
Uber has confirmed a vehicle operator was inside the auto at the time of the crash.
Arizona has been a hub for testing self-driving vehicles because of friendly legislation and support from Gov. Doug Ducey.
The DMV has only reported one traffic collision involving an Uber self-driving vehicle since 2017.
Autonomous vehicle technology promises to dramatically reduce collisions and improve street safety in time. In May 2016 a Tesla Model S struck a tractor-trailer on a Florida highway, killing the Tesla's driver.