Crews responded to 15 Whittier Drive to find the truck in the driveway fully involved.
According to Cap. Wayne Conlon, firefighters knocked down the fire in about 15 minutes after arrival.
A firefighter was transported to and released from Cape Cod Hospital after twisting an ankle while at the scene.
The truck was unoccupied and there were no other injuries.
A cause of the fire has not been determined and fire officials are still investigating.