Emergency services were called to a late-night collision on the A19 between Crathorne and East Rounton.
Crews from Northallerton and Thornaby attended the incident at around 11.57pm on Saturday after reports of a single vehicle crash involving a cow.
Firefighters found the vehicle had struck the animal before rolling over.
All occupants had managed to get out of the vehicle before crews arrived and were being treated by ambulance crews at the scene.
Firefighters made the vehicle safe before leaving the incident in the hands of North Yorkshire Police.
The fate of the cow is not known.
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