Humberside Police say the road between Carnaby Roundabout and Lissett has now reopened.
The accident happened near Fraisthorpe on Friday morning and the A165 was closed shortly afterwards.
Humberside Police say the road reopened just after 2pm saying:
"We can confirm that the A165 between the Carnaby roundabout and Lissett has now reopened. Thank you for your patience."
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Two Yorkshire Coast towns have been named among the most popular destinations in the United Kingdom for a festive staycation this year.
Elite cyclists will tackle a gruelling route along the East Yorkshire coast and through the Wolds as Stage 3 of the Tour of Britain takes place on Friday.
Preparations are under way to manage the potential economic fallout for coastal businesses if a proposed overnight visitor levy is introduced in North Yorkshire.
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