The fire truck, from the Leedom Fire Company in Ridley Township, was responding to an accident on I-95 north.
The driver made his way onto ramp leading onto I-95 at Route 320 when police believe the truck hit a curb, then slammed through a guard rail and slipped down an embankment.
It was left teetering over the edge.
Workers used cables from two trucks to stabilize the truck, then a crane was brought in to lift it back onto the ramp.
One firefighter, William Mensack, 38, from Croydon, Pa.was transported to Crozier-Chester Hospital with lower back injuries. He was treated and released.
It took 2 1/2 hours to clear the scene.
State police are investigating the crash.
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