Police say 23-year-old Kiesha Thompson was deliberately struck by a four-wheel drive while walking home on a footpath after dropping her daughter at daycare in Daisy Hill, south of the city, on Friday.

Ms Thompson died in hospital that night.

Queensland Police charged a 27-year-old man with murder on Monday after he was arrested at Logan Central and he will face Brisbane Magistrates Court on Tuesday.

It is alleged the man was known to the victim.

Police earlier charged 24-year-old Larissa Rita Mae-Leigh Sant with murder but have declined to say if the women knew each other.

But officers did say the incident was not an accident, alleging that Ms Thompson was targeted.

Police say the 4WD was lingering in the area for an extended period of time before the crash.

“For that reason we don’t believe that it was an unfortunate, random traffic accident,” Detective Inspector Chris Knight told reporters on Sunday.

Sant was remanded in custody after her matter was mentioned in Ipswich Magistrates Court on Monday and will next appear in Beenleigh Magistrates Court on July 31.

The tragedy has left Ms Thompson’s family struggling with an “enormity” of grief.

Koby Torto said his sister was taken from the family in a “cowardly act” while her aunt Amanda Matthias called it “horrific and senseless” in a video released by police on Monday.

Her sister, Keyara, said the pain of losing her sibling could not be put into words.

“We are struggling with the enormity of her absence in our life,” she said.

Her family vowed to take care of her baby daughter who was “the absolute light of her life”.

“We are here to support her (daughter) throughout her whole life,” Mr Torto said.