Police say the collision involved a tractor unit - known as a shunter vehicle - and a male pedestrian, and that the incident took place in the loading area of the Wincanton distribution centre.
The pedestrian, a man aged in his fifties from the Wakefield area who was employed by Wincanton, was pronounced deceased at the scene of the collision.
His next of kin have been informed of his death.
North Yorkshire Police haslaunched an investigation into the collision.
A spokesperson for the force said: “We are not yet in a position to release the name of the deceased but will do so when we are able.”