Officers were called to Cowley Road at around 2pm after the woman in her 20s was hit by the lorry near the Lidl supermarket.
She was rushed to hospital in a “serious condition” but the Metropolitan Police confirmed on Wednesday (January 10) that she did not suffer life-changing or life-threatening injuries.
The driver of the lorry stopped at the scene and the Met also confirmed that there are no criminal matters they are investigating.
Cowley Road was closed in both directions following the crash, but was reopened at around 4.45pm.
A police spokesman said: "There were no life-threatening or life changing injuries.
"There are no criminal matters."
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