Followers can only be killed by the player.
Not true. However, they typically yield when at low HPs, which means the enemy attacking them will most often move on to another target (usually the player). But if they take enough damage in one hit, or otherwise don't get a chance to yield, then they can be killed in a fight by your enemies. Seen that happen many times (to my wife) - all you can do is loot the body.
I'm even pretty sure I had Lydia get killed by a TRAP one time, but I could not find her body, so maybe she just got lost or there was a glitch that made her go invisible / teleport away / cease to exist.