The crash occurred on Shipton Road outside the Mercure Hotel yesterday (Friday), when the lorry collided with a black Volkswagen Touran and a grey Hyundai Tucson at around 4.45pm.
The female driver of the Volkswagen was extricated by fire services before being taken to York Hospital for treatment for minor injuries.
She has since been discharged from hospital.
North Yorkshire Police is now appealing for any witnesses to yesterday's collision.
Officers are particularly interested in any dashcam footage motorists may have captured of the crash, or either vehicle in the moments leading up to it.
Anyone with any information which could assist officers with their investigation is asked to call North Yorkshire Police on 101 and ask to speak to TC465 Mike Rowan of the Roads Policing Group.
You can also email [email protected] Please quote reference 12200035232.