Police say a man and woman in their 30s, who were the driver and a passenger of a red Peugeot 2008, suffered fatal injuries in the accident on the A165 at the junction of Grindale Road on Friday.
Officers were called to reports of a collision between the Peugeot and a black Mercedes GLA at 3.30pm.
A child travelling in the Peugeot was taken to hospital with minor injuries.
A spokesperson for Humberside Police said: “The families of the deceased are being supported by specially-trained officers and our deepest sympathies are with them at this extremely sad time.”
RNLI issue weever fish warning for Yorkshire coast
Seafret shrouds Scarborough for two days while rest of coast basks in sunshine
Whitby Regatta 2022: 25 of the best photos as event goes ahead despite sea fret disruption
Scarborough officially smashes temperature record as Met Office confirms new hottest day
Thunderstorms could cause flash flooding in Scarborough as Met Office issues yellow weather warning
The female driver and sole occupant of the Mercedes sustained serious injuries and was taken to hospital for treatment. Police described her condition as serious.
“We are appealing for anyone who saw the collision or either vehicle prior to the collision to call us on our non-emergency number 101 quoting log 338 of 7 May 2021,” said the spokesperson.