Police said the 52-year-old woman and a man, 51, were struck by a black Renault minibus on the A64 at Crambeck, near Malton, close to midnight on Saturday.
The pair, who were pronounced dead at the scene, had just got off a double-decker Coastliner bus.
The minibus was heading towards York at the time and police have made an appeal for witnesses.
Two people died when they were hit by a minibus as they crossed a road after getting off a bus in North Yorkshire.