The truck driver was navigating a curved overpass that connects I-287 to I-684 in Harrison around 10:30 a.m. when they lost control.
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The truck flipped over the guardrail and fell onto the cross-Westchester Expressway below.
Video from Newscopter 7 showed the front-end of a van that had been driving on the expressway was heavily damaged but the cab of the vehicle was intact.
The truck driver was pronounced dead at the scene.
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The driver of the van survived and was taken to Westchester Medical Center for treatment.
Six hours later, the truck was still blocking traffic on the expressway and police were seen conducting an investigation.
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