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
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.