Firefighters were called to the scene at Coach Street shortly after 8.30am today and used a ladder to get to the overturned vehicle but found there was no-one trapped inside.
Watch manager Martyn Hughes said it was “not the first time” they had been called out to the spot.
A spokesperson for North Yorkshire Fire and Rescue Service said: "Crews from Skipton were called to a report of a vehicle that had fallen 10ft into a stream.
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"The crews used a ladder to make access to the vehicle and after inspection it was found there were no persons trapped in the vehicle."