Miss Miller-Kennedy was trapped in the car for two hours and suffered critical injuries in the crash, which occurred about 115km southwest of Cairns.
She was airlifted to Cairns Base Hospital and later transported to Townsville for further treatment, but died from her injuries on August 12.
The French tourist underwent several operations for serious leg and arm injuries. Her 20-year-old male passenger escaped with only minor injuries.
She has been charged with reckless driving causing death and will face court tomorrow.
Miss Miller-Kennedy’s family released an official statement following her death, which read: “Remember Elyse’s inner beauty, the warmth she showed to all, her humbleness during her journey throughout her larger than life experiences and of course the generous sweet soul and friend she was to so many.”
Current Miss World Australia Madeline Cowe also released a statement, adding that she had befriended the Queensland competitor during their pageant journey.
“I’m in complete shock and lost for words. Elyse you were such an amazing person and I am so happy to have met you and spent the time we did together,” Ms Cowe said.
“You were such a mature, intelligent, kind, caring, fun and beautiful girl and at only 17 your life was taken far to early. I will always remember you, I miss you so much already. All my love, thoughts and prayers go out to Elyse’s family and friends. Rest in peace beautiful girl.