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Police say the 31-year-old shot the woman, aged 34, as she sat in a car with two teenage children parked outside a home in Robb Place, South Mackay, at around 4.30pm yesterday.
She sustained severe injuries and died on the spot.
Police believe the two did not know each other but lived on the same street.
The children escaped from the vehicle and were unharmed.
Police say the man also shot a 66-year-old man who approached the scene a short time later.
He suffered non-life-threatening wounds to his arm and sternum and was taken to hospital in serious but stable condition.
Police blocked off several streets for hours as they searched for the suspected shooter.
Members of the public were advised to avoid the area and those in the restricted area were asked to remain indoors until further notice and traffic diversions were put in place.
The accused shooter left the scene in a silver Mitsubishi Triton before police arrived.
Officers tracked the car to a service station on the Bruce Highway near Hilton Street, where the man was arrested without incident.
The lockdown of the neighborhood was lifted around 10:30 p.m.
The 31-year-old, from South Mackay, has been charged with one count each of murder and attempted murder and is due to appear in court today.
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