The woman, understood to be aged in her 40s, was found in Court Street, Dundee, at around 10.30pm yesterday.
She was taken to Ninewells Hospital in the city where she died, police said.
Part of Court Street was cordoned off while forensic officers investigated the scene.
The death is not being treated as suspicious and police are appealing for witnesses who may have seen the woman before she was found. She was wearing a black top and trousers and a blue baseball cap.
Officers particularly want to speak to a boy aged between 12 and 14 and an Asian man who was in a silver van in the street around the time the woman was discovered.
A report will be sent to the procurator fiscal.