A baby that was set on fire in the middle of a residential street has died of its injuries.

The baby was taken to hospital after police were called to the scene in Pemberton Township, New Jersey, US, at around 11pm local time Friday (16 January).

While police put out the flames, the baby had already suffered severe burns.

While the cause of the fire has not been confirmed, the Burlington Country Times quoted witnesses who said they saw a woman set the baby alight.

A woman was reportedly apprehended at the scene.

The death of the child, whose name, gender and age have not yet been revealed, has been confirmed by Burlington County Prosecutor Robert Bernardi.