A 58-year-old woman has died following a three-vehicle crash on the Hume Highway near Marulan.

NSW Police said emergency services were called to the highway about 7pm on Friday following reports a B-double truck, a minivan and a ute had collided.

A passenger in the minivan died at the scene.

The driver of the minivan, a 36-year-old woman, was airlifted to Canberra Hospital in a critical condition, while another passenger was flown to Liverpool Hospital in a serious condition. A third passenger, aged 32, suffered minor injuries.

The driver of the ute, a 28-year-old man, and the truck driver, a 31-year-old man, were both taken to Goulburn Base Hospital for mandatory testing.

The truck driver was charged with dangerous driving occasioning death, negligent driving occasioning death and two counts of causing bodily harm by misconduct while in charge of a motor vehicle.