Police say 36-year-old Devon Brandon of Brooklyn was driving the truck in Hell's Kitchen just before 12:30 p.m. Sunday.
He then got out of his truck, and into a fire truck. The firefighter inside was injured.
WATCH: Firefighters apprehend truck driver after crash, assault
Truck driver arrested after jumping into firetruck, assaulting firefighter
Police took the truck driver into custody.
Brandon is charged with felony reckless endangerment, assaulting a firefighter, driving while impaired by drugs, possession of cocaine and marijuana and refusing to take a breath test.
He was admitted to Bellevue Hospital for evaluation, according to officials.
Eight other people who were injured were taken to Roosevelt Hospital and Bellevue Hospital with non-life threatening injuries.
Brandon is currently on parole for criminal possession of a weapon and criminal sale of a firearm.