Police are appealing for witnesses to the incident, or anyone who may have dashcam footage that could help their investigation.
The collision took place on Sheriff Hutton Road, Strensall, and was reported at 9.15am today.
Both the cyclist and HGV driver were believed to be heading out of a junction that connects an agricultural site with the road.
Sadly the cyclist, a man in his 70s, was pronounced dead at the scene. His next of kin has been informed.
Anyone who can provide information that could help the investigation is urged to contact North Yorkshire Police on 101, select option 1 and quote reference NYP27082020-0146.