The crash happened around 1 a.m. at the intersection of Lawrence Expressway and East Homestead Road.
Both the front cab of the big-rig and the other vehicle caught fire, California Highway Patrol Officer Aaron Quistad said.
At least one person suffered minor injuries, CHP Officer Kevin Kroncke said.
The cleanup took longer than expected; northbound lanes were initially expected to reopen by 2:45 a.m. but remained closed until about 6 a.m., Kroncke said.
A left-turn lane remained closed so crews could continue cleaning up debris, and the crash was completely cleared just before 8 a.m., Kroncke said.