The HGV passes a car, a motorcycle and another lorry before pulling back in with just seconds to spare as another car approaches from the opposite direction.
The incident was filmed by driver Charlotte Graham on Apperley Lane in Rawdon during snowy and icy conditions on Wednesday morning.
The vehicle was later identified as belonging to Wetherby-based quarry firm Hanson Aggregates. A statement from the company said:
"Our drivers are well-trained and generally perform to very high standards, particularly with regards to safety. Rest assured that we will track down the employee without delay and take appropriate disciplinary action."