According to state police, the crash happened just after 9 p.m. Friday and shut down all lanes of the highway near Street Road in Bensalem.
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Police said the truck collided with an SUV. It was carrying nearly 4,000 gallons of heating oil which quickly ignited into a massive fireball.
The flames were so intense from the highway overpass that trees caught fire below on Bristol Pike.
The flames had been extinguished by 10:15 p.m., and the northbound lanes reopened at about 10:30 p.m.
I-95 southbound reopened around 9:20 a.m. Saturday. Route 13 was closed until just after 10 a.m.
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Witnesses told Action News the sound of the incident was intense.
"We just heard a boom and it sounded like very close thunder or a car backfiring," Jason Baker said.
Police said the truck driver and two other people were taken to a nearby hospital with non-life-threatening injuries.
PennDOT is working to repair asphalt at the crash site.
The cause of the crash is under investigation.