The man driving the tractor-trailer, whose name has not been released, will be held responsible for an estimated $15,000 in damage to the train, Caltrain spokeswoman Christine Dunn said.
The collision happened around 7:30 a.m. Monday when southbound train No. 312 collided with the truck near the Broadway station in Burlingame.
The truck had failed to clear an intersection, and when the train entered the crossing it clipped the rear of the truck, Dunn said.
The warning bells, signals and gates at the intersection were operating properly at the time of the collision, according to Dunn.
The accident initially stopped service in both directions, and the collision resulted in train cancellations and delays throughout the morning.
The truck driver sustained minor injuries. No one on the train was hurt, she said.
Dunn said the driver of the truck has been cited for the vehicle code violation of stopping his vehicle on a railroad train crossing.