The deadly crash happened just before 4am on Aldine Bender near Lillja Road in north Houston.
Houston police say Engine 74 was returning to its station from a call. As the engine was backing in, a white sedan sideswiped it and became pinned beneath it.
Firefighters managed to pull the driver out of the car and get him to an ambulance, but officials said he died before reaching the hospital.
No one else was injured.