Jenner, 65, was unharmed, but a spokesperson for the Los Angeles County Sheriff's Department confirmed to PEOPLE that a 70-year-old woman driving a white Lexus died in the crash and that four vehicles (including Jenner) were involved.
"Bruce seemed physically okay after the accident, but he acted extremely concerned about the other people involved," the witness told PEOPLE. "There was one fatality and several other people were injured."
"Bruce walked around the accident scene without obvious injuries, but his car was damaged," they continued.
The witness noted that it appeared that Jenner did not cause the accident.
Police confirmed to PEOPLE that the accident started when a Prius that came to a stop on the highway. The Prius was then hit by a white Lexus, who was then rear-ended by Jenner's SUV. The impact of the crash caused the Lexus to travel into opposing traffic, when it was struck by a black Hummer.
The 70-year-old woman who was driving the white Lexus was pronounced dead on the scene. Police are still investigating the cause of the accident and why the Prius stopped.
Sgt. Philip Brooks from the Malibu/Lost Hills Sheriff Station confirmed to PEOPLE that Jenner had passed a field sobriety test and was cooperating with authorities. He was taken to Los Robles Hospital in Thousand Oaks, California, where he submitted to a blood test.
TMZ reports that photos appeared to show Jenner holding something at the moment of impact and that a search warrant is being issued for his cell phone records to see if he was texting while driving. Sgt. Brooks acknowledged to PEOPLE that the pictures raise a question but that no search warrants have been issued yet.
Jenner's rep confirmed that he was uninjured and had no further information relating to the accident.
Photos showed damage on the front end of Jenner's Escalade. However, the majority of the damage appeared to be suffered by the white Lexus and a black Hummer.
It appeared that Jenner was towing a dune buggy at the time of the accident.
Jenner has been in the news in recent weeks after sources confirmed to PEOPLE that the former Olympic athlete is in the process of transitioning to female. Jenner is working on a docu-series with E! about the transition, but it did not appear that there were any cameras present at the time of the crash.
Additional reporting by JEFF NELSON and ELIZABETH LEONARD