A woman was fatally hit by a drunk, speeding driver who drove his car onto the sidewalk in the Bronx over the weekend, cops said Wednesday.

Francisco Rosario, 29, was allegedly driving drunk and speeding in a Nissan minivan on Jerome Avenue in Norwood shortly before 9:30 p.m. Sunday when he swerved and lost control of the vehicle, according to police.

Rosario hopped the curb near Bainbridge Avenue, barreling into a pole and then two people — Natasha Mar, 33, and a 49-year-old man as they were waiting at a bus stop, cops said.

His minivan, which bore Connecticut plates, came to a halt next to an “uprooted crosswalk sign that was laying on the ground,” according to the criminal complaint filed in Bronx criminal court.

Emergency responders discovered Mar lying on the pavement behind the Nissan, “moving and moaning,” the court papers state.

Rosario — who allegedly smelled of alcohol, had bloodshot eyes and slurred speech — told police at the scene he had one drink at an earlier picnic, court papers state.

“I swerved to avoid a rock,” he said,

“The lady I hit, is she going to be okay?”

Mar — who was identified in court papers as Natasha Chih-Chia — was rushed to St. Barnabas Hospital with brain bleeding, skull fractures and other broken bones, but she died on Monday, authorities said.

The second victim was also taken to the hospital, where he was listed in stable condition.

Police charged Rosario with assault, vehicular assault, reckless endangerment, driving while intoxicated, reckless driving, failure to obey a traffic device, driving while ability impaired and refusal to take a breath test, cops said.

He was previously arrested in 2006 for criminal sale of a controlled substance, and in again 2007 for criminal sale of marijuana, cops said.