It happened at 3:30 a.m. Monday in the southbound lanes approaching Route 420 in Tinicum Township.
Images from the Action Cam at the scene showed a vehicle upside down in a grassy area adjacent to the highway.
Another vehicle with moderate front and rear-end damage was parked on the shoulder of the road.
There was no immediate word what led to the crash or the identity of the person killed.
Intermittent closures on southbound I-95 were reported through the morning rush hour as police investigated and crews worked to clear the scene.
All lanes had reopened by 6:45 a.m., but delays were expected to continue for some time.