The 64-year-old was from the north of the city.
The collision happened at the junction of Brougham Street at about 15:10 BST.
Police have appealed for anyone with a dashboard camera who drove along Dock Street or Brougham Street at the time to contact their crash investigators.
The man who died after he was hit by a lorry while walking on Dock Street in Belfast on Friday was William James Walker, police have confirmed.