Just before noon, the accident occurred at the intersection of Route 28 and Berry Avenue.
Police closed down Berry Avenue from Route 28 after the accident for emergency vehicles and tow trucks causing some traffic delays in the area.
The road has since been reopened.
Cap. Roupen Baker, of the Yarmouth Fire Department, said that one of the vehicles wound up on an embankment up against the Hess station sign.
Yarmouth Police are investigating the accident.