The crash happened Thursday morning near the intersection of Route 9W and New Main Street in Haverstraw, New York.
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A CSX train was traveling northbound when a tractor-trailer truck bottomed out and got stuck on the tracks.
Witnesses flagged down police who helped get the driver out of the truck before the impact.
Video: Driver saved moments before train collided with truck stuck on tracks
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"This could have been a horrific tragedy, but smart thinking and quick action, including blocking other cars and pedestrians from entering the area, prevented that outcome," Rockland County Legislature Chairman Jay Hood Jr. said. "I'm sure the driver of the truck and the driver of the train are shook up and I hope they'll both be okay. Thank you to everyone who went to the scene in case there were other victims. It's no surprise to me, and I'm sure many others, that the community really pulled together because that is what Haverstraw is all about."
The truck was carrying a heavy load of titanium piping ,which may have led to it getting stuck.