Crews from Pickering, Kirkbymoorside and Malton were called to the fire on Southgate at 9.54pm.
They said the caravan fire had spread to a number of lean-to outbuildings with a car and cylinders inside.
Police shut the A170, put a cordon in place and evacuated several neighbouring homes while firefighters tackled the flames.
The cause of the fire is under investigation.
People were able to return to their homes and the A170 reopened by 2am.
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