Emergency services were called to the road near St Madoes, Perth and Kinross, around 11:55am today.
The 60-year-old woman suffered fatal injuries while the lorry driver and two minibus passengers were taken to Ninewells Hospital in Dundee.
Northbound and southbound carriageways were both closed for some time to allow investigations to be carried out.
A Police Scotland spokesman said: “Her next of kin have been informed and our thoughts are with her family.
“Motorists are thanked for their patience during this time.”