A woman has miraculously survived being run over by a lorry on a zebra crossing, escaping with nothing more than a few scratches and cuts on her elbows.

CCTV shows the lorry stopping in front of the zebra crossing before the woman enters the frame and begins to cross the busy road on February 26 in the city of Figueira in Parana, Brazil.

But she appears to have been in the lorry driver's blind spot as the HGV, with its huge trailer weighing several tonnes, suddenly lurches forward, running the woman over.

The lorry quickly came to a stop and the woman then crawled out from underneath it and was helped to her feet by passersby.

The pedestrian was taken to hospital for a checkup and was declared in good health, according to local media reports.

Witnesses said that the driver stopped and helped the woman as well.

She was released from hospital the same day without suffering any serious injuries.

Local media later confirmed with the victim by telephone that she had escaped unharmed and that the lorry driver had failed to see her crossing the road.

Police are investigating the case but the driver has not been charged with any motoring offences.