The truck crashed with a car at around 9:30 p.m. at Lafayette and Mulberry Streets.
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Mulberry Street was closed following the accident but has since reopened.
A law enforcement source says after the crash into fire engine 5, the driver fled the scene on foot.
The source said the driver later checked himself in at Trinitas Hospital in Elizabeth for treatment of his injuries, leaving his two passengers behind in the crashed car.
They were taken to University Hospital.
Three firefighters were also hurt. All were said to have non-life-threatening injuries.
The Essex County Prosecutor's Crime Scene Investigations Bureau is continuing to investigate the crash.
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