The stepchildren of the dead woman, Kim Howe, are seeking unspecified compensation over the accident in February, involving four cars on the Pacific Coast Highway in the Los Angeles metro area.
Jenner was “careless, negligent and/or otherwise responsible in causing the death of decedent,” said the lawsuit, filed in LA Superior Court Friday and published by the LA Times.
The Olympic decathlon champion was unharmed after the collision. He was driving a large SUV when he collided with a smaller white car that then swerved into oncoming traffic, according to the TMZ celebrity news website.
TMZ, which first reported the lawsuit, said the LA County Sheriff’s department is still investigating the crash, but cited sources as saying a criminal prosecution was unlikely.
Jenner was pictured at the scene in sunglasses and a baseball cap standing upright with no obvious injuries and was driven away in a police cruiser following the accident.
Jenner became an American sports hero when he set a world record with his Montreal decathlon victory in 1976.
But it was through his marriage to the former Kris Kardashian that he once again became a household name with the reality TV series “Keeping Up with the Kardashians,” in which he appeared as the sometimes bemused stepfather of her flamboyant daughters.
The couple married in 1991 and have two daughters together, Kendall and Kylie. Bruce and Kris Jenner are recently divorced.
Jenner won praise from celebrities and activists last month for revealing he is transitioning from male to female, ending long-running speculation he identifies as a woman.
In a highly anticipated, two-hour television interview with Diane Sawyer, the 65-year-old said he had wrestled with his sexual identity since he was a child.