Fire crews from Pontefract were called to Tradebe at Weeland Road, Knottingley, at 5.55am.
A West Yorkshire Fire and Rescue Service spokesman said the pick up truck, which was in a locked compound, was fully engulfed in flames.
He added that it was lucky the fire did not spread, as hazardous waste is recycled at the site and much more damage could have been caused.
Crews used hose reels to extinguish the fire, but the cause of the blaze is under investigation.
The scene was cleared by around 7.15am.