It happened at around 11.40am on Monday when a grey Audi travelling towards Scarborough and an AA recovery truck travelling in the opposite direction, collided on the stretch of the A64 between Staxton and Seamer roundabouts.
Sadly the driver of the Audi, a man in his 60s from Lincoln died at the scene of the collision.
The driver of the breakdown truck was uninjured.
Anyone who saw either of the vehicles before the collision or who witnessed the actual collision is asked to contact the police, including anyone with any dash-cam footage of the incident or the vehicles prior to the crash.
To contact police, call 101 quoting reference number 12190229658 and pass information for the Major Collision Investigation Unit or email [email protected]
The road was closed to allow emergency services to attend to the collision and to allow collision investigators to examine the scene. It reopened at 5.30pm.