The young girl, believed to be a local resident, died instantly when her scooter ran into the path of a three-tonne Penrith Council truck as she rode towards Richmond Road from a nearby Caltex.

The shattered front grill of a truck remained scattered near the site where the young girl died. Flowers have been laid near a small note which says "rest in peace beautiful angel."

A local resident who witnessed the horrific accident said they heard people screaming and saw a young girl's body laying on the ground next to a mangled scooter. They saw a truck 100 metres up the road, where the driver was cradling his face in his hands.

"Everyone who was around was screaming. Crowds were gathering around and they were all seeing if they could help her but as soon as saw her knew they couldn't help."

"The parents arrived not long after."

Police have not yet commented on the driver of the vehicle or reported any arrests, however said an investigation into the circumstances surrounding the crash was underway.

In a statement, Penrith Council confirmed it was a council truck involved in the incident.

"All at council are deeply saddened and shocked by the news this afternoon regarding an incident involving a council truck at Cambridge Gardens," a spokeswoman said.

"Our thoughts are with the family and friends of the victim and those involved and impacted.

"We understand that this tragedy will be felt by many in our community and beyond.

"We are unable to comment further on the circumstances surrounding the incident due to it being an unfolding police investigation."

Originally published as 'Beautiful angel': Tributes to girl in truck crash