"I really didn't think she was going to make it out alive. She had been under there for so long," said witness Kara Copes.
Copes said that before Carter jumped in, others worked to smash the SUV's windows to help the woman get out.
After firefighters arrived, they used a ladder to help the woman climb to safety. Officials told FOX23 she was fortunate to walk away unharmed.
"I know the driver didn't intend for that to happen, but that's how fast accidents like this occur," said Broken Arrow Deputy Fire Chief James Suddath.
Officials said that if the water had been any higher, it's likely the car would have been swept away.