Police say it was around 11:45 a.m. when Connie Birkenmeier, 76, was struck while in the parking lot of the Chart Room Restaurant on Route 3.
The Bar Harbor woman was pronounced dead at the scene.
The truck was driven by Justin Shell, 36, of Harrisonburg, Virginia. He was brought to the hospital to be checked out for non-life threatening injuries.
He was then arrested and charged with aggravated driving to endanger and manslaughter.
Police said Shell had been traveling on Route 3 when he drifted from the roadway and into the parking lot. That's where he struck a parked motor vehicle before hitting Mrs. Birkenmeier. The truck then hit several other vehicles before also striking the restaurant.
The crash remains under investigation.
Shell is being held at the Hancock County Jail.