South Yorkshire Police said the pedestrian was hit by a black Renault Megane on Balby Carr Bank at around 8.55am on Monday.
Traffic was affected on neighbouring roads, including White Rose Way, as emergency services responded to the incident.
A force spokeswoman said: "At around 8.55am on Monday, emergency services responded to reports a black Renault Megane had collided with a pedestrian on Balby Carr Bank, Doncaster.
"The pedestrian suffered minor injuries in the incident."