A Brooklyn woman who allegedly hit and killed a motorcyclist in a drunken driving crash was released without bail by a judge at her arraignment on Tuesday.

Jasmin Morales-Cruz, 23, was cut loose after her arraignment in Brooklyn criminal court on vehicular manslaughter, DWI and driving without a license charges for the early morning Memorial Day crash.

Prosecutors alleged Morales-Cruz, who does not have a driver’s license, was behind the wheel of an Infiniti sedan when she hit motorcyclist Evvon Alexander near the intersection of Ocean Parkway and Beverly Road at about 3:55 a.m. on Monday.

Alexander was rushed to Maimonides Medical Center after the crash and declared dead.

Morales-Cruz’s boyfriend told police who responded to the scene that he was supposed to be driving, but he had three or four drinks that night.

Morales-Cruz only had one drink and took the wheel instead of him, he told police. She refused to take a breath test at the scene.

Her defense attorney urged the judge to release her and noted that this was her first arrest.

“I’m going to stress ‘accident’ here because this was an [automobile] accident,” attorney Edward Mandery said.

More than 15 of Morales-Cruz’s family members packed the Brooklyn courtroom during the hearing and cheered when the judge ordered her released without bail.