The 18-year-old student, from Sudbrook, near Ancaster, who was involved in an accident outside Sir William Robertson Academy, Welbourn, on Tuesday, has died.
Emergency services were called at about 3.30pm following a collision with a black Mercedes.
She was airlifted to the Queen’s Medical Centre at Nottingham, but has since died.
The family of Millie Taylor-Noonan, a student at the Academy, has paid tribute to her.
In a statement, her family said: “Millie was a happy, kind, caring and beautiful young lady.
“Millie was really passionate about the environment. For her 18th birthday she did not want presents but asked for people to donate to the Clean Oceans campaign.
“She was also a member of the Centre for Alternative Technology, in Wales, and completed the Walk For Wildlife, with Chris Packham.
“Millie had also made the choice that at the end of her life her organs should be donated, to help others.
“She was fantastic at school: all her teachers loved her and she worked hard. She was going to go to university and study the subjects that she was passionate about.
“She was loved by everyone, and was beautiful inside and out.
“We will miss you Millie – your family and your loving boyfriend.”
She is the second teenager to die following an accident on Lincolnshire roads this week.
On Monday afternoon, 16-year-old Eliza Bill, from Threekingham, died after being hit by a lorry at Osbournby.