Amersall Road in Scawthorpe was closed while police and emergency services attended at the scene.
A South Yorkshire Police spokesman said: “We received a call at 10am today – the caller reported a road traffic collision on Amersall Road.
“It is reported that a grey Volkswagen Passat collided with a scaffolding lorry on the road.
“The driver of the Volkswagen is believed to have minor injuries.
“Officers are carrying out their enquiries.”