James William Scott, 50, from Pathhead in Midlothian, was struck by a Vauxhall Corsa on the A68 at 09:50 on Sunday.
Mr Scott was pronounced dead at the scene and the road was closed for several hours.
Officers appealed for witnesses and expressed their condolences to his family and friends.
Mr Scott's family said: "James was a very loving husband and father.
"He would go out of his way to help anyone who needed it and had recently been nominated for employee of the month at work.
"He will be sorely missed."
Sgt Scott Sneddon, of Police Scotland, said: "Our sincere condolences go to James' family and friends at this very sad time.
"We are still keen to speak to anyone who saw the collision on the A68 on Sunday or who has information that can help us with our inquiries into this incident."
The family of a cyclist who died after being hit by a car in Midlothian has paid tribute to the "very loving husband and father".