The crash happened at about 7pm yesterday (Tuesday), when two vehicles collided in South Cave, Brough.
A woman, who suffered whiplash, and a baby, who were inside one of the vehicles, were taken to hospital.
The baby was "okay" and was only taken for a precautionary check-up, a spokesman for Humberside Fire and Rescue Service said.
Two men, inside the second vehicle, were treated by paramedics at the scene.
Crews cleared the carriageway at the scene following the crash.