The most credible place to find the answer is www.motorsportmemorial.org It does not limit itself to drivers so a little work is necessary to generate just the drievers number of deaths. The upside is that many motorsport fans from around the world are aware of the site so generally all fatalaties are recorded.
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There have been Nascar drivers that have died over the years. It is not on a yearly basis. The last Nascar Cup driver that died in an accident was Dale Earnhardt Sr. on February 18, 2001.
49 drivers have lost their lives racing in Formula 1. The last fatality was Ayrton Senna at Imola in 1994.
*As of 2013.