The man in his fifties was taken to Leeds General Infirmary by air ambulance following the collision, which happened outside the Graziers pub on Aberford Road, Stanley, just after 8am today.
Police said he suffered injuries to his chest and one hand and is in a stable condition in hospital.
The Rothwell-bound Lane of Aberford Road outside the Graziers pub was closed this morning causing traffic delays in both directions.
The windscreen was broken on the Wakefield Council truck which was involved in the collision.
Graziers landlord Paul Smith, 52, said he was waiting to drive out of the pub car park to take his daughter to school when the incident happened.
Mr Smith said: “I was waiting to pull out of the car park and I noticed a guy walking on the opposite side of the road. He looked like he had been jogging. The next minute I heard a big bang.
“My daughter was screaming to come back inside. One of the lads I know, who was walking his dog, phoned for the ambulance.”