The 40-year-old woman and her daughter suffered injuries not considered life-threatening in Sunday afternoon's collision in Milford, a town on the Long Island Sound not far from New Haven.
Metro-North Railroad spokesman Sam Zambuto says none of the 100 passengers on the Waterbury-bound train was injured. He says the crossing near the family's home is private and doesn't have gates or flashing lights.
The woman's relatives rushed to pull her from the car. They say her daughter got out by herself.
They say the train didn't blow a warning whistle while approaching the crossing. But Metro-North says a preliminary investigation shows the train conductor sounded a horn.
Train service was briefly suspended.