Police said it happened shortly after 4 p.m. Tuesday in the 600 block of Kingston Avenue.
RMPD said a vehicle traveling westbound on Kingston Avenue struck two people who were walking.
The victims died at the scene. RMPD said they were a 60-year-old woman and a 1 1/2-year-old toddler. The two were related, police said.
Their identities were not immediately released.
The driver of the vehicle, a 56-year-old woman, was not injured.
The Rocky Mount Traffic Enforcement Crash Reconstruction Unit continues to investigate. No word yet on whether any charges will be filed.