It was learnt that the woman was heading towards Damai from the Luyang direction, while the 24-year-old lorry driver was said to be heading towards Kepayan from the city direction when the collision occurred about 10.30pm.
The impact left a huge dent on the door of the Proton's front passenger seat.
The injured woman was subsequently sent to the Queen Elizabeth Hospital by paramedics who arrived later.
The lorry driver, however, was unhurt.
In a separate accident, a man, 30s, sustained minor injuries after crashing his Iswara vehicle against a tree along Jalan Sembulan, here, about 2.30am, Saturday.
It was learnt that the man was heading towards the city centre from Tanjung Aru when he lost control of his vehicle, which skidded and swerved to the roadside where it hit the tree.