Harry John Chamberlain, 47, of Skipton, was struck by a vehicle on the A65 at Draughton just before 7.10pm last Wednesday.
He had been walking his dog, which ran off after the collision but was found safe following a search by members of the public.
Police say Mr Chamberlain was hit while he was laid in the road between the two junctions leading to the village.
The vehicle stopped at the scene as did a number of others, including some motorists who had to swerve to avoid the man.
A police spokesman said: “At this stage it is unclear how the man came to be laid in the carriageway.
“Investigations are ongoing to try to establish whether he stumbled into the road and fell or whether a preceding vehicle has hit the man.
“Numerous witnesses have come forward to report seeing a man walking along the A65 prior to the collision and we extend our thanks to those people who have come forward. Their information is extremely valuable to our investigation.
“However, we still need to hear from any other motorists who were driving along the A65 in either direction between 6.45pm to 7.10pm.”
The A65 was closed for about six hours to allow investigators to examine the scene.
Mr Chamberlain has been described as a loving dad, son, brother, partner and a good friend, who was well known for his love of dogs.
Anyone with information about the incident is asked to contact North Yorkshire Police control room on 101, quoting incident number 434 of January 8.
For funeral details, contact Skipton-based Howcrofts Funeral Services on (01756) 792173.