Major Crash officers ruled the death of the 78-year-old man as non-suspicious, saying he had stepped on to Pinjar Road without looking.
The driver of the Veolia recycling truck was unable to avoid the collision, which happened about 9am on Monday, December 2.
The victim died in Royal Perth Hospital the following day.
A Veolia Environmental Services Australia spokesman said the company had investigated the incident and co-operated with police.
He said the driver was offered counselling.
‘Although our driver was not physically hurt, he was clearly shocked. He is improving,’ he said,