The fire began in the early hours of today in High Bentham, Craven.
Firefighters from Bentham and Hornby were called to the yard, in Wenning Avenue, shortly before 1.30am.
A spokesperson for North Yorkshire Fire and Rescue Service said: "The truck suffered significant fire damage and spread to adjacent vehicles in the yard."
Crews used two breathing apparatus, four hose reel jets, small tools and a thermal imaging camera to extinguish the fire.
It is believed the cause was an electrical fault on the truck.