The accident happened around 9:00 p.m. Monday on Old Post Road, between Maple and Cobbler roads, in North Whitehall Township, Lehigh County.
A pickup truck traveling east on Old Post Road went out of control around a curve and collided with an oncoming minivan, police said.
The baby in the minivan, who police said was being held by her father on his lap in the front passenger seat, died at the scene.
The coroner identified the baby 1-year-old Katrina Gunkel of Slatington. The baby's mother was driving the minivan.
According to the Lehigh County Coroner's Office, Gunkel died from head injuries she sustained in the accident. They ruled her death accidental.
Gunkel's parents, Dana Frisk and Mark Gunkel, both 30, from Slatington, were seriously injured in the accident. Dana was last reported to be in critical condition; Mark was in good condition.
The driver of the truck, Randy Teets, 56, from Whitehall Township, Lehigh County, was also injured in the crash.
State police and the Lehigh County District Attorney are investigating the crash.
Information from WFMZ-TV