ACT police confirmed the death on Monday afternoon, saying investigators were working to understand the events that led to the crash.
The two vehicles collided about 2:00pm near the intersection of Wentworth Avenue and Brisbane Avenue in the inner suburb of Barton.
The area was closed to traffic and police asked motorists to avoid it.
The police officer in charge of traffic operations said the scene was “horrific” and urged anyone who had seen the collision to contact ACT Policing.
“Unfortunately, an emergency services vehicle, a fire truck, has collided with another vehicle,” Detective Acting Station Sergeant Marcus Borman said.
“The driver of the vehicle that was struck by the fire truck sustained serious injuries and, tragically, passed away at hospital later this afternoon.”